YARP
Yet Another Robot Platform
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
yarp::dev::Lidar2DDeviceBase Class Reference

The DLidarDeviceTemplate class. More...

#include <yarp/dev/Lidar2DDeviceBase.h>

+ Inheritance diagram for yarp::dev::Lidar2DDeviceBase:

Public Member Functions

bool parseConfiguration (yarp::os::Searchable &config)
 
 Lidar2DDeviceBase ()
 
bool getRawData (yarp::sig::Vector &data) override
 Get the device measurements. More...
 
bool getLaserMeasurement (std::vector< LaserMeasurementData > &data) override
 Get the device measurements. More...
 
bool getDeviceStatus (Device_status &status) override
 get the device status More...
 
bool getDeviceInfo (std::string &device_info) override
 get the device hardware charactestics More...
 
bool getDistanceRange (double &min, double &max) override
 get the device detection range More...
 
bool getScanLimits (double &min, double &max) override
 get the scan angular range. More...
 
bool getHorizontalResolution (double &step) override
 get the angular step between two measurments. More...
 
bool getScanRate (double &rate) override
 get the scan rate (scans per seconds) More...
 
- Public Member Functions inherited from yarp::dev::IRangefinder2D
virtual ~IRangefinder2D ()
 
virtual bool setDistanceRange (double min, double max)=0
 set the device detection range. More...
 
virtual bool setScanLimits (double min, double max)=0
 set the scan angular range. More...
 
virtual bool setHorizontalResolution (double step)=0
 get the angular step between two measurments (if available) More...
 
virtual bool setScanRate (double rate)=0
 set the scan rate (scans per seconds) More...
 

Protected Member Functions

void applyLimitsOnLaserData ()
 

Protected Attributes

yarp::sig::Vector m_laser_data
 
yarp::dev::IRangefinder2D::Device_status m_device_status
 
std::mutex m_mutex
 
std::string m_info
 
double m_scan_rate
 
size_t m_sensorsNum
 
double m_min_angle
 
double m_max_angle
 
double m_min_distance
 
double m_max_distance
 
double m_resolution
 
bool m_clip_max_enable
 
bool m_clip_min_enable
 
bool m_do_not_clip_and_allow_infinity_enable
 
std::vector< Range_t > m_range_skip_vector
 

Additional Inherited Members

- Public Types inherited from yarp::dev::IRangefinder2D
enum  Device_status {
  DEVICE_OK_STANBY = 0,
  DEVICE_OK_IN_USE = 1,
  DEVICE_GENERAL_ERROR = 2,
  DEVICE_TIMEOUT = 3
}
 

Detailed Description

The DLidarDeviceTemplate class.

This class has been designed to uniform the parsing of lidar yarp devices.

Definition at line 32 of file Lidar2DDeviceBase.h.

Constructor & Destructor Documentation

◆ Lidar2DDeviceBase()

Lidar2DDeviceBase::Lidar2DDeviceBase ( )

Definition at line 96 of file Lidar2DDeviceBase.cpp.

Member Function Documentation

◆ applyLimitsOnLaserData()

void Lidar2DDeviceBase::applyLimitsOnLaserData ( )
protected

Definition at line 226 of file Lidar2DDeviceBase.cpp.

◆ getDeviceInfo()

bool Lidar2DDeviceBase::getDeviceInfo ( std::string &  device_info)
overridevirtual

get the device hardware charactestics

Parameters
device_infostring containing the device infos
Returns
true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 71 of file Lidar2DDeviceBase.cpp.

◆ getDeviceStatus()

bool Lidar2DDeviceBase::getDeviceStatus ( Device_status &  status)
overridevirtual

get the device status

Parameters
statusthe device status
Returns
true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 50 of file Lidar2DDeviceBase.cpp.

◆ getDistanceRange()

bool Lidar2DDeviceBase::getDistanceRange ( double &  min,
double &  max 
)
overridevirtual

get the device detection range

Parameters
minthe minimum detection distance
maxthe maximum detection distance
Returns
true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 35 of file Lidar2DDeviceBase.cpp.

◆ getHorizontalResolution()

bool Lidar2DDeviceBase::getHorizontalResolution ( double &  step)
overridevirtual

get the angular step between two measurments.

Parameters
stepthe angular step between two measurments
Returns
true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 43 of file Lidar2DDeviceBase.cpp.

◆ getLaserMeasurement()

bool Lidar2DDeviceBase::getLaserMeasurement ( std::vector< LaserMeasurementData > &  data)
overridevirtual

Get the device measurements.

Parameters
dataa vector containing the measurement data, expressed in cartesian/polar format
Returns
true/false..

Implements yarp::dev::IRangefinder2D.

Definition at line 78 of file Lidar2DDeviceBase.cpp.

◆ getRawData()

bool Lidar2DDeviceBase::getRawData ( yarp::sig::Vector &  data)
overridevirtual

Get the device measurements.

Parameters
rangesthe vector containing the raw measurement data, as acquired by the device.
Returns
true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 57 of file Lidar2DDeviceBase.cpp.

◆ getScanLimits()

bool Lidar2DDeviceBase::getScanLimits ( double &  min,
double &  max 
)
overridevirtual

get the scan angular range.

Parameters
minstart angle of the scan
maxend angle of the scan
Returns
true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 27 of file Lidar2DDeviceBase.cpp.

◆ getScanRate()

bool Lidar2DDeviceBase::getScanRate ( double &  rate)
overridevirtual

get the scan rate (scans per seconds)

Parameters
ratethe scan rate
Returns
true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 64 of file Lidar2DDeviceBase.cpp.

◆ parseConfiguration()

bool Lidar2DDeviceBase::parseConfiguration ( yarp::os::Searchable &  config)

Definition at line 110 of file Lidar2DDeviceBase.cpp.

Member Data Documentation

◆ m_clip_max_enable

bool yarp::dev::Lidar2DDeviceBase::m_clip_max_enable
protected

Definition at line 51 of file Lidar2DDeviceBase.h.

◆ m_clip_min_enable

bool yarp::dev::Lidar2DDeviceBase::m_clip_min_enable
protected

Definition at line 52 of file Lidar2DDeviceBase.h.

◆ m_device_status

yarp::dev::IRangefinder2D::Device_status yarp::dev::Lidar2DDeviceBase::m_device_status
protected

Definition at line 38 of file Lidar2DDeviceBase.h.

◆ m_do_not_clip_and_allow_infinity_enable

bool yarp::dev::Lidar2DDeviceBase::m_do_not_clip_and_allow_infinity_enable
protected

Definition at line 53 of file Lidar2DDeviceBase.h.

◆ m_info

std::string yarp::dev::Lidar2DDeviceBase::m_info
protected

Definition at line 43 of file Lidar2DDeviceBase.h.

◆ m_laser_data

yarp::sig::Vector yarp::dev::Lidar2DDeviceBase::m_laser_data
protected

Definition at line 37 of file Lidar2DDeviceBase.h.

◆ m_max_angle

double yarp::dev::Lidar2DDeviceBase::m_max_angle
protected

Definition at line 47 of file Lidar2DDeviceBase.h.

◆ m_max_distance

double yarp::dev::Lidar2DDeviceBase::m_max_distance
protected

Definition at line 49 of file Lidar2DDeviceBase.h.

◆ m_min_angle

double yarp::dev::Lidar2DDeviceBase::m_min_angle
protected

Definition at line 46 of file Lidar2DDeviceBase.h.

◆ m_min_distance

double yarp::dev::Lidar2DDeviceBase::m_min_distance
protected

Definition at line 48 of file Lidar2DDeviceBase.h.

◆ m_mutex

std::mutex yarp::dev::Lidar2DDeviceBase::m_mutex
protected

Definition at line 39 of file Lidar2DDeviceBase.h.

◆ m_range_skip_vector

std::vector<Range_t> yarp::dev::Lidar2DDeviceBase::m_range_skip_vector
protected

Definition at line 54 of file Lidar2DDeviceBase.h.

◆ m_resolution

double yarp::dev::Lidar2DDeviceBase::m_resolution
protected

Definition at line 50 of file Lidar2DDeviceBase.h.

◆ m_scan_rate

double yarp::dev::Lidar2DDeviceBase::m_scan_rate
protected

Definition at line 44 of file Lidar2DDeviceBase.h.

◆ m_sensorsNum

size_t yarp::dev::Lidar2DDeviceBase::m_sensorsNum
protected

Definition at line 45 of file Lidar2DDeviceBase.h.

The documentation for this class was generated from the following files: