Range device interface specialized for laser rangefinder sensors. More...

#include <ArLaser.h>

Inherited by ArLaserFilter, ArLMS1XX, ArLMS2xx, ArS3Series, ArSimulatedLaser, ArSZSeries, ArUrg, and ArUrg_2_0.

Public Member Functions
void	addConnectCB (ArFunctor *functor, int position=50)
	Adds a connect callback.

void	addDisconnectNormallyCB (ArFunctor *functor, int position=50)
	Adds a callback for when disconnect is called while connected.

void	addDisconnectOnErrorCB (ArFunctor *functor, int position=50)
	Adds a callback for when disconnection happens because of an error.

void	addFailedConnectCB (ArFunctor *functor, int position=50)
	Adds a callback for when a connection to the robot is failed.

void	addIgnoreReading (double ignoreReading)
	Adds a degree at which to ignore readings (within 1 degree of nearest integer)

bool	addIgnoreReadings (const char *ignoreReadings)
	Adds a series of degree at which to ignore readings (within 1 degree of nearest integer)

void	addReadingCB (ArFunctor *functor, int position=50)
	Adds a callback that is called whenever a laser reading is processed.

virtual void	applyTransform (ArTransform trans, bool doCumulative=true)
	Applies a transform to the buffers. More...

	ArLaser (int laserNumber, const char *name, unsigned int absoluteMaxRange, bool locationDependent=false, bool appendLaserNumberToName=true)
	Constructor.

virtual bool	asyncConnect (void)=0
	Connect to the laser without blocking.

virtual bool	blockingConnect (void)=0
	Connect to the laser and block for the result.

bool	canChooseAutoBaud (void)
	Gets if you can choose autoBaud for the laser. More...

bool	canChooseDegrees (void)
	Gets if you can choose the number of degrees. More...

bool	canChooseIncrement (void)
	Gets if you can choose an increment. More...

bool	canChooseReflectorBits (void)
	Gets if you can choose reflectorBits for the laser. More...

bool	canChooseStartingBaud (void)
	Gets if you can choose startingBaud for the laser. More...

bool	canChooseUnits (void)
	Gets if you can choose units for the laser. More...

bool	canSetDegrees (void)
	Sees if this class can set the degrees with doubles or not. More...

bool	canSetIncrement (void)
	Gets if you can set an increment. More...

bool	canSetPowerControlled (void)
	Gets if you can set powerControlled for the laser. More...

bool	chooseAutoBaud (const char *reflectorBits)
	Sets the reflectorBits to one of the choices from getAutoBaudChoices. More...

bool	chooseDegrees (const char *range)
	Sets the range to one of the choices from getDegreesChoices. More...

bool	chooseIncrement (const char *increment)
	Sets the increment to one of the choices from getIncrementChoices. More...

bool	chooseReflectorBits (const char *reflectorBits)
	Sets the reflectorBits to one of the choices from getReflectorBitsChoices. More...

bool	chooseStartingBaud (const char *reflectorBits)
	Sets the reflectorBits to one of the choices from getStartingBaudChoices. More...

bool	chooseUnits (const char *units)
	Sets the units to one of the choices from getUnitsChoices. More...

void	clearIgnoreReadings (void)
	Clears the degrees we ignore readings at.

void	copyReadingCount (const ArLaser *laser)
	Copies the reading count stuff from another laser (for the laser filter)

virtual bool	disconnect (void)=0
	Disconnect from the laser.

unsigned int	getAbsoluteMaxRange (void)
	Gets the absolute maximum range on the sensor.

const char *	getAutoBaudChoice (void)
	Gets the reflectorBits that was chosen. More...

std::list< std::string >	getAutoBaudChoices (void)
	Gets the list of reflectorBits choices. More...

const char *	getAutoBaudChoicesString (void)
	Gets a string with the list of reflectorBits choices seperated by \|s. More...

virtual double	getConnectionTimeoutSeconds (void)
	Gets the number of seconds without a response until connection assumed lost. More...

double	getCumulativeCleanDist (void)
	Cumulative readings that are this close to current beams are discarded.

int	getCumulativeCleanInterval (void)
	Cumulative readings are cleaned every this number of milliseconds.

int	getCumulativeCleanOffset (void)
	Gets the offset for cumulative cleaning.

const char *	getDefaultPortType (void)
	Gets the default port type for the laser.

int	getDefaultTcpPort (void)
	Gets the default TCP port for the laser.

const char *	getDegreesChoice (void)
	Gets the range that was chosen. More...

double	getDegreesChoiceDouble (void)
	Gets the range that was chosen as a double. More...

std::list< std::string >	getDegreesChoices (void)
	Gets the list of range choices. More...

std::map< std::string, double >	getDegreesChoicesMap (void)
	Gets the map of degrees choices to what they mean. More...

const char *	getDegreesChoicesString (void)
	Gets a string with the list of degrees choices seperated by \|s. More...

virtual ArDeviceConnection *	getDeviceConnection (void)
	Gets the device connection.

double	getEndDegrees (void)
	Gets the end angle. More...

double	getEndDegreesMax (void)
	Gets the maximum value for the end angle. More...

double	getEndDegreesMin (void)
	Gets the minimum value for the end angle. More...

bool	getFlipped (void)
	Gets if the laser is flipped or not.

const std::set< int > *	getIgnoreReadings (void) const
	Gets the list of readings that we ignore.

double	getIncrement (void)
	Gets the increment. More...

const char *	getIncrementChoice (void)
	Gets the increment that was chosen. More...

double	getIncrementChoiceDouble (void)
	Gets the increment that was chosen as a double. More...

std::list< std::string >	getIncrementChoices (void)
	Gets the list of increment choices. More...

std::map< std::string, double >	getIncrementChoicesMap (void)
	Gets the map of increment choices to what they mean. More...

const char *	getIncrementChoicesString (void)
	Gets a string with the list of increment choices seperated by \|s. More...

double	getIncrementMax (void)
	Gets the increment maximum. More...

double	getIncrementMin (void)
	Gets the increment minimum. More...

ArLog::LogLevel	getInfoLogLevel (void)
	Gets the log level that informational things are logged at.

int	getLaserNumber (void)
	Gets the number of the laser this is.

ArTime	getLastReadingTime (void)
	Gets the time data was last receieved.

bool	getPowerControlled (void)
	Gets if the power is controlled. More...

int	getReadingCount (void)
	Gets the number of laser readings received in the last second.

const char *	getReflectorBitsChoice (void)
	Gets the reflectorBits that was chosen. More...

std::list< std::string >	getReflectorBitsChoices (void)
	Gets the list of reflectorBits choices. More...

const char *	getReflectorBitsChoicesString (void)
	Gets a string with the list of reflectorBits choices seperated by \|s. More...

ArPose	getSensorPosition (void)
	Gets the position of the sensor on the robot.

double	getSensorPositionTh (void)
	Gets the heading of the sensor on the robot.

double	getSensorPositionX (void)
	Gets the X position of the sensor on the robot.

double	getSensorPositionY (void)
	Gets the Y position of the sensor on the robot.

double	getSensorPositionZ (void)
	Gets the Z position of the sensor on the robot (0 is unknown)

double	getStartDegrees (void)
	Gets the start angle. More...

double	getStartDegreesMax (void)
	Gets the maximum value for the start angle. More...

double	getStartDegreesMin (void)
	Gets the minimum value for the start angle. More...

const char *	getStartingBaudChoice (void)
	Gets the reflectorBits that was chosen. More...

std::list< std::string >	getStartingBaudChoices (void)
	Gets the list of reflectorBits choices. More...

const char *	getStartingBaudChoicesString (void)
	Gets a string with the list of reflectorBits choices seperated by \|s. More...

const char *	getUnitsChoice (void)
	Gets the units that was chosen. More...

std::list< std::string >	getUnitsChoices (void)
	Gets the list of units choices. More...

const char *	getUnitsChoicesString (void)
	Gets a string with the list of units choices seperated by \|s. More...

bool	hasSensorPosition (void)
	Gets if the sensor pose has been set.

virtual bool	isConnected (void)=0
	See if the laser is connected.

virtual bool	isTryingToConnect (void)=0
	See if the laser is trying to connect.

virtual bool	laserCheckParams (void)
	Call the laser can implement to make sure the parameters are all okay or set the maximum range (based on the params) More...

void	remConnectCB (ArFunctor *functor)
	Adds a disconnect callback.

void	remDisconnectNormallyCB (ArFunctor *functor)
	Removes a callback for when disconnect is called while connected.

void	remDisconnectOnErrorCB (ArFunctor *functor)
	Removes a callback for when disconnection happens because of an error.

void	remFailedConnectCB (ArFunctor *functor)
	Removes a callback for when a connection to the robot is failed.

void	remReadingCB (ArFunctor *functor)
	Removes a callback that is called whenever a laser reading is processed.

void	resetLastCumulativeCleanTime (void)
	Resets when the cumulative cleaning happened (so offset can help)

virtual void	setConnectionTimeoutSeconds (double seconds)
	Sets the numter of seconds without a response until connection assumed lost. More...

virtual void	setCumulativeBufferSize (size_t size)
	override the default to keep track of its been set or not

void	setCumulativeCleanDist (double dist)
	Cumulative readings that are this close to current beams are discarded.

void	setCumulativeCleanInterval (int milliSeconds)
	Cumulative readings are cleaned every this number of milliseconds.

void	setCumulativeCleanOffset (int milliSeconds)
	Offset for cumulative cleaning.

virtual void	setDeviceConnection (ArDeviceConnection *conn)
	Sets the device connection.

bool	setEndDegrees (double endDegrees)
	Sets the end angle, it must be between getEndDegreesMin and getEndDegreesMax. More...

bool	setFlipped (bool flipped)
	Sets if the laser is flipped or not.

bool	setIncrement (double increment)
	Sets the increment. More...

void	setInfoLogLevel (ArLog::LogLevel infoLogLevel)
	Sets the log level that informational things are logged at.

virtual void	setMaxRange (unsigned int maxRange)
	override the default to bound the maxrange by the absolute max range

bool	setPowerControlled (bool powerControlled)
	Sets if the power is controlled. More...

void	setSensorPosition (double x, double y, double th, double z=0)
	Sets the position of the sensor on the robot.

void	setSensorPosition (ArPose pose, double z=0)
	Sets the position of the sensor on the robot.

bool	setStartDegrees (double startDegrees)
	Sets the start angle, it must be between getStartDegreesMin and getStartDegreesMax. More...

virtual	~ArLaser ()
	Destructor.

Public Member Functions inherited from ArRangeDeviceThreaded
	ArRangeDeviceThreaded (size_t currentBufferSize, size_t cumulativeBufferSize, const char *name, unsigned int maxRange, int maxSecondsTokeepCurrent=0, int maxSecondsToKeepCumulative=0, double maxDistToKeepCumulative=0, bool locationDependent=false)
	Constructor.

virtual bool	getRunning (void)
	Get the running status of the thread.

virtual bool	getRunningWithLock (void)
	Get the running status of the thread, locking around the variable.

virtual int	lockDevice (void)

virtual void	run (void)
	Run in this thread.

virtual void	runAsync (void)
	Run in its own thread.

virtual void *	runThread (void *arg)=0
	The functor you need to implement that will be the one executed by the thread.

virtual void	stopRunning (void)
	Stop the thread.

virtual int	tryLockDevice (void)

virtual int	unlockDevice (void)

virtual	~ArRangeDeviceThreaded ()
	Destructor.

Public Member Functions inherited from ArRangeDevice
virtual void	addReading (double x, double y, bool *wasAdded=NULL)
	Adds a reading to the buffer.

	ArRangeDevice (size_t currentBufferSize, size_t cumulativeBufferSize, const char *name, unsigned int maxRange, int maxSecondsToKeepCurrent=0, int maxSecondsToKeepCumulative=0, double maxDistToKeepCumulative=0, bool locationDependent=false)
	Constructor. More...

virtual void	clearCumulativeOlderThan (int milliSeconds)
	Clears all the cumulative readings older than this number of milliseconds.

virtual void	clearCumulativeOlderThanSeconds (int seconds)
	Clears all the cumulative readings older than this number of seconds.

virtual void	clearCumulativeReadings (void)
	Clears all the cumulative readings.

virtual void	clearCurrentReadings (void)
	Clears all the current readings.

virtual double	cumulativeReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
	Gets the closest current reading from the given box region. More...

virtual double	cumulativeReadingPolar (double startAngle, double endAngle, double *angle=NULL) const
	Gets the closest cumulative reading in the given polar region. More...

virtual double	currentReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
	Gets the closest current reading from the given box region. More...

virtual double	currentReadingPolar (double startAngle, double endAngle, double *angle=NULL) const
	Gets the closest current reading in the given polar region. More...

void	filterCallback (void)
	Internal function to filter the readings based on age and distance.

virtual const std::list< ArSensorReading * > *	getAdjustedRawReadings (void) const
	Gets the raw unfiltered readings from the device (but pose takens are corrected) More...

virtual std::vector< ArSensorReading > *	getAdjustedRawReadingsAsVector (void)
	Gets the raw adjusted readings from the device into a vector. More...

virtual const std::list< ArPoseWithTime * > *	getCumulativeBuffer (void) const
	Gets the current buffer of readings. More...

virtual std::list< ArPoseWithTime * > *	getCumulativeBuffer (void)
	Gets the current buffer of readings.

virtual std::vector< ArPoseWithTime > *	getCumulativeBufferAsVector (void)
	Gets the cumulative buffer of readings as a vector. More...

virtual size_t	getCumulativeBufferSize (void) const
	Sets the maximum size of the buffer for cumulative readings.

virtual ArDrawingData *	getCumulativeDrawingData (void)
	Gets data used for visualizing the cumulative buffer (see ArNetworking)

virtual const ArRangeBuffer *	getCumulativeRangeBuffer (void) const
	Gets the cumulative range buffer. More...

virtual ArRangeBuffer *	getCumulativeRangeBuffer (void)
	Gets the cumulative range buffer.

virtual const std::list< ArPoseWithTime * > *	getCurrentBuffer (void) const
	Gets the current buffer of readings. More...

virtual std::list< ArPoseWithTime * > *	getCurrentBuffer (void)
	Gets the current buffer of readings.

virtual std::vector< ArPoseWithTime > *	getCurrentBufferAsVector (void)
	Gets the current buffer of readings as a vector. More...

virtual size_t	getCurrentBufferSize (void) const
	Gets the maximum size of the buffer for current readings.

virtual ArDrawingData *	getCurrentDrawingData (void)
	Gets data used for visualizing the current buffer (see ArNetworking)

virtual const ArRangeBuffer *	getCurrentRangeBuffer (void) const
	Gets the current range buffer. More...

virtual ArRangeBuffer *	getCurrentRangeBuffer (void)
	Gets the current range buffer.

double	getMaxDistToKeepCumulative (void)
	sets the maximum distance cumulative readings can be from current pose More...

double	getMaxInsertDistCumulative (void)
	Gets the maximum distance a cumulative reading can be from the robot and still be inserted. More...

virtual unsigned int	getMaxRange (void) const
	Gets the maximum range for this device.

int	getMaxSecondsToKeepCumulative (void)
	gets the maximum seconds to keep current readings around More...

int	getMaxSecondsToKeepCurrent (void)
	gets the maximum seconds to keep current readings around More...

double	getMinDistBetweenCumulative (void)
	Gets the minimum distance between cumulative readings. More...

double	getMinDistBetweenCurrent (void)
	Gets the minimum distance between current readings. More...

virtual const char *	getName (void) const
	Gets the name of the device.

virtual const std::list< ArSensorReading * > *	getRawReadings (void) const
	Gets the raw unfiltered readings from the device. More...

virtual std::vector< ArSensorReading > *	getRawReadingsAsVector (void)
	Gets the raw unfiltered readings from the device into a vector. More...

virtual ArRobot *	getRobot (void)
	Gets the robot this device is attached to.

bool	isLocationDependent (void)
	Gets if this device is location dependent or not.

virtual void	setCumulativeDrawingData (ArDrawingData *data, bool takeOwnershipOfData)
	Sets data for visualizing the cumulative buffer (and if we own it)

virtual void	setCurrentBufferSize (size_t size)
	Sets the maximum size of the buffer for current readings. More...

virtual void	setCurrentDrawingData (ArDrawingData *data, bool takeOwnershipOfData)
	Sets data for visualizing the current buffer (and if we own it)

void	setMaxDistToKeepCumulative (double maxDistToKeepCumulative)
	sets the maximum distance cumulative readings can be from current pose More...

void	setMaxInsertDistCumulative (double maxInsertDistCumulative)
	Sets the maximum distance a cumulative reading can be from the robot and still be inserted. More...

void	setMaxSecondsToKeepCumulative (int maxSecondsToKeepCumulative)
	gets the maximum seconds to keep cumulative readings around More...

void	setMaxSecondsToKeepCurrent (int maxSecondsToKeepCurrent)
	Sets the maximum seconds to keep current readings around. More...

void	setMinDistBetweenCumulative (double minDistBetweenCumulative)
	Sets the minimum distance between cumulative readings. More...

void	setMinDistBetweenCurrent (double minDistBetweenCurrent)
	Sets the minimum distance between current readings. More...

virtual void	setRobot (ArRobot *robot)
	Sets the robot this device is attached to.

virtual	~ArRangeDevice ()
	Destructor.

Static Public Member Functions
static void	useSimpleNamingForAllLasers (void)
	Makes it so we'll apply simple naming to all the lasers.

Protected Member Functions
void	internalBuildChoices (std::map< std::string, double > choices, std::string str, std::list< std::string > *choicesList)

void	internalBuildChoicesString (std::list< std::string > choices, std::string str)

bool	internalCheckChoice (const char check, const char choice, std::list< std::string > choices, const char choicesStr)

bool	internalCheckChoice (const char check, const char choice, std::map< std::string, double > choices, const char choicesStr, double *choiceDouble)

virtual void	internalGotReading (void)

void	internalProcessReading (double x, double y, unsigned int range, bool clean, bool onlyClean)

void	laserAllowAutoBaudChoices (const char *defaultAutoBaudChoice, std::list< std::string > autoBaudChoices)
	Allows setting the auto baud speed to one of a number of choices. More...

void	laserAllowDegreesChoices (const char *defaultDegreesChoice, std::map< std::string, double > degreesChoices)
	Allows setting the degrees the laser uses to one of a number of choices. More...

void	laserAllowIncrementChoices (const char *defaultIncrementChoice, std::map< std::string, double > incrementChoices)
	Allows setting the increment to one of a number of choices. More...

void	laserAllowReflectorBitsChoices (const char *defaultReflectorBitsChoice, std::list< std::string > reflectorBitsChoices)
	Allows setting the reflector bits the laser will use to one of a number of choices. More...

void	laserAllowSetDegrees (double defaultStartDegrees, double startDegreesMin, double startDegreesMax, double defaultEndDegrees, double endDegreesMin, double endDegreesMax)
	Allows setting the degrees the laser uses to anything in a range. More...

void	laserAllowSetIncrement (double defaultIncrement, double incrementMin, double incrementMax)
	Allows setting the increment the laser uses to anything in a range. More...

void	laserAllowSetPowerControlled (bool defaultPowerControlled)
	Allows setting if the power is controlled or not. More...

void	laserAllowStartingBaudChoices (const char *defaultStartingBaudChoice, std::list< std::string > startingBaudChoices)
	Allows setting the starting baud to one of a number of choices. More...

void	laserAllowUnitsChoices (const char *defaultUnitsChoice, std::list< std::string > unitsChoices)
	Allows setting the units the laser will use to one of a number of choices. More...

bool	laserCheckLostConnection (void)
	Returns if the laser has lost connection so that the subclass can do something appropriate. More...

virtual void	laserConnect (void)
	Function for a laser to call when it connects.

virtual void	laserDisconnectNormally (void)
	Function for a laser to call when it disconnects normally.

virtual void	laserDisconnectOnError (void)
	Function for a laser to call when it loses connection.

virtual void	laserFailedConnect (void)
	Function for a laser to call when it fails to connects.

void	laserProcessReadings (void)
	Converts the raw readings into the buffers (needs to be called by subclasses) More...

bool	laserPullUnsetParamsFromRobot (void)
	Pulls the unset params from the robot parameter file.

void	laserSetAbsoluteMaxRange (unsigned int absoluteMaxRange)
	Sets the absolute maximum range on the sensor.

void	laserSetDefaultPortType (const char *defaultPortType)
	Sets the laser's default connection port type.

void	laserSetDefaultTcpPort (int defaultLaserTcpPort)
	Sets the laser's default TCP port.

virtual void	laserSetName (const char *name)
	Called when the lasers name is set. More...

Protected Member Functions inherited from ArRangeDevice
void	adjustRawReadings (bool interlaced)
	This call should be called by the range device every robot cycle before the range device makes new readings (and even if it isn't adding any that cycle)... More...

Protected Attributes
unsigned int	myAbsoluteMaxRange

std::string	myAutoBaudChoice

std::list< std::string >	myAutoBaudChoices

bool	myAutoBaudChoiceSet

std::string	myAutoBaudChoicesString

bool	myCanChooseAutoBaud

bool	myCanChooseDegrees

bool	myCanChooseIncrement

bool	myCanChooseReflectorBits

bool	myCanChooseStartingBaud

bool	myCanChooseUnits

bool	myCanSetDegrees

bool	myCanSetIncrement

bool	myCanSetPowerControlled

ArDeviceConnection *	myConn

ArCallbackList	myConnectCBList

ArMutex	myConnMutex

bool	myCumulativeBufferSizeSet

double	myCumulativeCleanDist

double	myCumulativeCleanDistSquared

int	myCumulativeCleanInterval

int	myCumulativeCleanOffset

ArTime	myCumulativeLastClean

ArCallbackList	myDataCBList

std::string	myDefaultPortType

int	myDefaultTcpPort

std::string	myDegreesChoice

double	myDegreesChoiceDouble

std::map< std::string, double >	myDegreesChoices

bool	myDegreesChoiceSet

std::list< std::string >	myDegreesChoicesList

std::string	myDegreesChoicesString

ArCallbackList	myDisconnectNormallyCBList

ArCallbackList	myDisconnectOnErrorCBList

double	myEndDegrees

double	myEndDegreesMax

double	myEndDegreesMin

bool	myEndDegreesSet

ArCallbackList	myFailedConnectCBList

bool	myFlipped

bool	myFlippedSet

bool	myHaveSensorPose

std::set< int >	myIgnoreReadings

double	myIncrement

std::string	myIncrementChoice

double	myIncrementChoiceDouble

std::map< std::string, double >	myIncrementChoices

bool	myIncrementChoiceSet

std::list< std::string >	myIncrementChoicesList

std::string	myIncrementChoicesString

double	myIncrementMax

double	myIncrementMin

bool	myIncrementSet

ArLog::LogLevel	myInfoLogLevel

int	myLaserNumber

ArTime	myLastReading

bool	myMaxRangeSet

bool	myPowerControlled

bool	myPowerControlledSet

int	myReadingCount

int	myReadingCurrentCount

std::string	myReflectorBitsChoice

std::list< std::string >	myReflectorBitsChoices

bool	myReflectorBitsChoiceSet

std::string	myReflectorBitsChoicesString

bool	myRobotRunningAndConnected

ArPose	mySensorPose

double	mySensorZ

double	myStartDegrees

double	myStartDegreesMax

double	myStartDegreesMin

bool	myStartDegreesSet

std::string	myStartingBaudChoice

std::list< std::string >	myStartingBaudChoices

bool	myStartingBaudChoiceSet

std::string	myStartingBaudChoicesString

time_t	myTimeLastReading

double	myTimeoutSeconds

std::string	myUnitsChoice

std::list< std::string >	myUnitsChoices

bool	myUnitsChoiceSet

std::string	myUnitsChoicesString

Protected Attributes inherited from ArRangeDeviceThreaded
ArRetFunctor1C< void , ArRangeDeviceThreaded, void >	myRunThreadCB

ArFunctorASyncTask	myTask

Protected Attributes inherited from ArRangeDevice
std::list< ArSensorReading * > *	myAdjustedRawReadings

std::vector< ArSensorReading >	myAdjustedRawReadingsVector

ArRangeBuffer	myCumulativeBuffer

ArDrawingData *	myCumulativeDrawingData

ArRangeBuffer	myCurrentBuffer

ArDrawingData *	myCurrentDrawingData

ArMutex	myDeviceMutex

ArFunctorC< ArRangeDevice >	myFilterCB

bool	myIsLocationDependent

double	myMaxDistToKeepCumulative

double	myMaxDistToKeepCumulativeSquared

double	myMaxInsertDistCumulative

ArPose	myMaxInsertDistCumulativePose

double	myMaxInsertDistCumulativeSquared

unsigned int	myMaxRange

int	myMaxSecondsToKeepCumulative

int	myMaxSecondsToKeepCurrent

double	myMinDistBetweenCumulative

double	myMinDistBetweenCumulativeSquared

double	myMinDistBetweenCurrent

double	myMinDistBetweenCurrentSquared

std::string	myName

bool	myOwnCumulativeDrawingData

bool	myOwnCurrentDrawingData

std::list< ArSensorReading * > *	myRawReadings

std::vector< ArSensorReading >	myRawReadingsVector

ArRobot *	myRobot

Static Protected Attributes
static bool	ourUseSimpleNaming = false

Detailed Description

Range device interface specialized for laser rangefinder sensors.

This class is a subclass of ArRangeDeviceThreaded meant for any planar scanning lasers, like the SICK lasers, Hokoyo URG series lasers, etc. Unlike other base classes this contains the superset of everything that may need to be configured on any of the sensors, even though some subclasses may only provide some of those parameters and features. (This allows the configuration interfaces and parameter files to work for any laser type.)

Normally, a program does not define or create any ArLaser objects directly. Instead, objects (device-specific subclasses of ArLaser) are created by ArLaserConnector::connectLasers() based on the robot parameter file and command line arguments, and the resulting ArLaser objects are stored in the ArRobot object Use ArRobot::getLaserMap() or ArRobot::findLaser() to access the ArLaser objects after calling ArLaserConnector::connectLasers().

The canSetDegrees(), canChooseRange(), canSetIncrement(), canChooseIncrement(), canChooseUnits(), canChooseReflectorBits(), canSetPowerControlled(), canChooseStartBaud(), and canChooseAutoBaud() and other similar functions are used by ArLaserConnector to test if a parameter is relevant to a specific laser type.

Creating New ArLaser Subclasses: If you want to create your own new class to implement a sensor not in ARIA, create a subclass of this class. ArUrg is the best current example of this. Call the laserAllow* functions in its constructor depending on what features that laser sensor has (use the laserAllowSet* functions if it is possible to set any value in a range, or use the laserAllow*Choices functions if it is only possible to set specific values). You may also want to use the override the laserSetName call so that your own mutexes will get named appropriately. You can use laserSetDefaultTcpPort to set the default TCP port (which you should do if the laser normally is connected to over TCP). You can use laserSetDefaultPortType to the type of port normally used (so that if a port is passed in we can make a reasonable guess as to what type, so that people don't always have to pass in a type). Before you connect you should call laserPullUnsetParams to fill in the parameters that weren't set explicitly with the default ones in the .p files. If the maximum range of the laser changes depending on settings (like on the LMS2xx) you should call laserSetAbsoluteMaxRange (after you call laserPullUnsetParamsFromRobot). Implement the blockingConnect, asyncConnect, disconnect, isConnected, and isTryingToConnect calls... while calling laserConnect, laserFailedConnect, laserDisconnectNormally, and laserDisconnectOnError calls to let the laser base class call the appropriate callbacks. You should use the laserCheckLostConnection in your runThread to see if the laser has lost connection (see its documentation for details). Then after you get your readings call laserProcessReadings to fill them from the raw buffer into the current and cumulative buffer (and call the reading callbacks). The internal* calls are all internal to the base class and shouldn't have to be used by inheriting classes. After you have created a new laser type you can add it to Aria by using the Aria::laserAddCreator call and then it will work like any of the built in laser types (see the documentation for that function for what the creator needs to do, and an example is ArLaserCreatorHelper in the ariaUtil.h/cpp files). Similiarly if you need a new connection type (ie not serial or tcp) you implement them and then use Aria::deviceConnectionAddCreator call to add new types so they too will then be treated the same as the built in Aria ones (ArDeviceConnectionCreatorHelper in ariaUtil.h/cpp file is the example for that one).

Since: 2.7.0

Examples:: laserConnect.cpp, and lasers.cpp.

Member Function Documentation

◆ applyTransform()

void ArLaser::applyTransform	(	ArTransform	trans,
		bool	doCumulative = `true`
	)

virtual

Applies a transform to the buffers.

this is mostly useful for translating to/from local/global coordinates, but may have other uses. This is different from the class because it also transforms the raw readings.

Parameters

trans	the transform to apply to the data
doCumulative	whether to transform the cumulative buffer or not

Reimplemented from ArRangeDevice.

◆ canChooseAutoBaud()

bool ArLaser::canChooseAutoBaud ( void )

inline

Gets if you can choose autoBaud for the laser.

If so, call chooseAutoBaud with one of the choices in getAutoBaudChoices, and see what the choice was with getAutoBaudChoice.

◆ canChooseDegrees()

bool ArLaser::canChooseDegrees ( void )

inline

Gets if you can choose the number of degrees.

If so, you can call chooseDegrees with one of the strings from getDegreesChoices, and get the degrees chosen as a string with getDegreesChoice or get the degrees chosen as a double with getDegreesChoiceDouble.

◆ canChooseIncrement()

bool ArLaser::canChooseIncrement ( void )

inline

Gets if you can choose an increment.

If so, call chooseIncrement with one of the choices in getIncrementChoices, and get the choice as a string with getIncrementChoice or the choice as a string with getIncrementChoiceDouble.

◆ canChooseReflectorBits()

bool ArLaser::canChooseReflectorBits ( void )

inline

Gets if you can choose reflectorBits for the laser.

If so, call chooseReflectorBits with one of the choices in getReflectorBitsChoices, and see what the choice was with getReflectorBitsChoice.

◆ canChooseStartingBaud()

bool ArLaser::canChooseStartingBaud ( void )

inline

Gets if you can choose startingBaud for the laser.

If so, call chooseStartingBaud with one of the choices in getStartingBaudChoices, and see what the choice was with getStartingBaudChoice.

◆ canChooseUnits()

bool ArLaser::canChooseUnits ( void )

inline

Gets if you can choose units for the laser.

If so, call chooseUnits with one of the choices in getUnitsChoices, and see what the choice was with getUnitsChoice.

◆ canSetDegrees()

bool ArLaser::canSetDegrees ( void )

inline

Sees if this class can set the degrees with doubles or not.

Gets if this class can set the start and end degrees with doubles.

If so, you can use getStartDegreesMin and getStartDegreesMax to see the valid values that you can use with setStartDegrees (and see what was set with getStartDegrees), and getEndDegreesMin and getEndDegreesMax to see the valid values that you can use with setEndDegrees (and see what was set with getEndDegrees).

◆ canSetIncrement()

bool ArLaser::canSetIncrement ( void )

inline

Gets if you can set an increment.

◆ canSetPowerControlled()

bool ArLaser::canSetPowerControlled ( void )

inline

Gets if you can set powerControlled for the laser.

If so, call setPowerControlled to set if the power is being controlled or not, and see what the setting is with getPowerControlled.

◆ chooseAutoBaud()

bool ArLaser::chooseAutoBaud ( const char * reflectorBits )

Sets the reflectorBits to one of the choices from getAutoBaudChoices.

See also: canChooseAutoBaud

◆ chooseDegrees()

bool ArLaser::chooseDegrees ( const char * range )

Sets the range to one of the choices from getDegreesChoices.

See also: canChooseDegrees

◆ chooseIncrement()

bool ArLaser::chooseIncrement ( const char * increment )

Sets the increment to one of the choices from getIncrementChoices.

See also: canChooseIncrement

◆ chooseReflectorBits()

bool ArLaser::chooseReflectorBits ( const char * reflectorBits )

Sets the reflectorBits to one of the choices from getReflectorBitsChoices.

See also: canChooseReflectorBits

◆ chooseStartingBaud()

bool ArLaser::chooseStartingBaud ( const char * reflectorBits )

Sets the reflectorBits to one of the choices from getStartingBaudChoices.

See also: canChooseStartingBaud

◆ chooseUnits()

bool ArLaser::chooseUnits ( const char * units )

Sets the units to one of the choices from getUnitsChoices.

See also: canChooseUnits

◆ getAutoBaudChoice()

const char* ArLaser::getAutoBaudChoice ( void )

inline

Gets the reflectorBits that was chosen.

See also: canChooseAutoBaud

◆ getAutoBaudChoices()

std::list<std::string> ArLaser::getAutoBaudChoices ( void )

inline

Gets the list of reflectorBits choices.

See also: canChooseAutoBaud

◆ getAutoBaudChoicesString()

const char* ArLaser::getAutoBaudChoicesString ( void )

inline

Gets a string with the list of reflectorBits choices seperated by |s.

See also: canChooseAutoBaud

◆ getConnectionTimeoutSeconds()

double ArLaser::getConnectionTimeoutSeconds ( void )

virtual

Gets the number of seconds without a response until connection assumed lost.

Gets the time (miliseconds) to go without response from the laser until it is assumed that the connection with the laser has been broken and the disconnect on error events will happen.

If 0, then the timeout is disabled.

If there is no robot then there is a straightforward check of last reading time against this value. If there is a robot then it will not start the check until the laser is running and connected.

◆ getDegreesChoice()

const char* ArLaser::getDegreesChoice ( void )

inline

Gets the range that was chosen.

See also: canChooseDegrees

◆ getDegreesChoiceDouble()

double ArLaser::getDegreesChoiceDouble ( void )

inline

Gets the range that was chosen as a double.

See also: canChooseDegrees

◆ getDegreesChoices()

std::list<std::string> ArLaser::getDegreesChoices ( void )

inline

Gets the list of range choices.

See also: canChooseDegrees

◆ getDegreesChoicesMap()

std::map<std::string, double> ArLaser::getDegreesChoicesMap ( void )

inline

Gets the map of degrees choices to what they mean.

This is mostly for the simulated laser

See also: canChooseDegrees

◆ getDegreesChoicesString()

const char* ArLaser::getDegreesChoicesString ( void )

inline

Gets a string with the list of degrees choices seperated by |s.

See also: canChooseDegrees

◆ getEndDegrees()

double ArLaser::getEndDegrees ( void )

inline

Gets the end angle.

See also: canSetDegrees

Examples:: laserConnect.cpp, and lasers.cpp.

◆ getEndDegreesMax()

double ArLaser::getEndDegreesMax ( void )

inline

Gets the maximum value for the end angle.

See also: canSetDegrees

◆ getEndDegreesMin()

double ArLaser::getEndDegreesMin ( void )

inline

Gets the minimum value for the end angle.

See also: canSetDegrees

◆ getIncrement()

double ArLaser::getIncrement ( void )

inline

Gets the increment.

See also: canSetIncrement

◆ getIncrementChoice()

const char* ArLaser::getIncrementChoice ( void )

inline

Gets the increment that was chosen.

See also: canChooseIncrement

◆ getIncrementChoiceDouble()

double ArLaser::getIncrementChoiceDouble ( void )

inline

Gets the increment that was chosen as a double.

See also: canChooseIncrement

◆ getIncrementChoices()

std::list<std::string> ArLaser::getIncrementChoices ( void )

inline

Gets the list of increment choices.

See also: canChooseIncrement

◆ getIncrementChoicesMap()

std::map<std::string, double> ArLaser::getIncrementChoicesMap ( void )

inline

Gets the map of increment choices to what they mean.

This is mostly for the simulated laser

See also: canChooseIncrement

◆ getIncrementChoicesString()

const char* ArLaser::getIncrementChoicesString ( void )

inline

Gets a string with the list of increment choices seperated by |s.

See also: canChooseIncrement

◆ getIncrementMax()

double ArLaser::getIncrementMax ( void )

inline

Gets the increment maximum.

See also: canSetIncrement

◆ getIncrementMin()

double ArLaser::getIncrementMin ( void )

inline

Gets the increment minimum.

See also: canSetIncrement

◆ getPowerControlled()

bool ArLaser::getPowerControlled ( void )

inline

Gets if the power is controlled.

See also: canChoosePowerControlled

◆ getReflectorBitsChoice()

const char* ArLaser::getReflectorBitsChoice ( void )

inline

Gets the reflectorBits that was chosen.

See also: canChooseReflectorBits

◆ getReflectorBitsChoices()

std::list<std::string> ArLaser::getReflectorBitsChoices ( void )

inline

Gets the list of reflectorBits choices.

See also: canChooseReflectorBits

◆ getReflectorBitsChoicesString()

const char* ArLaser::getReflectorBitsChoicesString ( void )

inline

Gets a string with the list of reflectorBits choices seperated by |s.

See also: canChooseReflectorBits

◆ getStartDegrees()

double ArLaser::getStartDegrees ( void )

inline

Gets the start angle.

See also: canSetDegrees

Examples:: laserConnect.cpp, and lasers.cpp.

◆ getStartDegreesMax()

double ArLaser::getStartDegreesMax ( void )

inline

Gets the maximum value for the start angle.

See also: canSetDegrees

◆ getStartDegreesMin()

double ArLaser::getStartDegreesMin ( void )

inline

Gets the minimum value for the start angle.

See also: canSetDegrees

◆ getStartingBaudChoice()

const char* ArLaser::getStartingBaudChoice ( void )

inline

Gets the reflectorBits that was chosen.

See also: canChooseStartingBaud

◆ getStartingBaudChoices()

std::list<std::string> ArLaser::getStartingBaudChoices ( void )

inline

Gets the list of reflectorBits choices.

See also: canChooseStartingBaud

◆ getStartingBaudChoicesString()

const char* ArLaser::getStartingBaudChoicesString ( void )

inline

Gets a string with the list of reflectorBits choices seperated by |s.

See also: canChooseStartingBaud

◆ getUnitsChoice()

const char* ArLaser::getUnitsChoice ( void )

inline

Gets the units that was chosen.

See also: canChooseUnits

◆ getUnitsChoices()

std::list<std::string> ArLaser::getUnitsChoices ( void )

inline

Gets the list of units choices.

See also: canChooseUnits

◆ getUnitsChoicesString()

const char* ArLaser::getUnitsChoicesString ( void )

inline

Gets a string with the list of units choices seperated by |s.

See also: canChooseUnits

◆ laserAllowAutoBaudChoices()

void ArLaser::laserAllowAutoBaudChoices	(	const char *	defaultAutoBaudChoice,
		std::list< std::string >	autoBaudChoices
	)

protected

Allows setting the auto baud speed to one of a number of choices.

Parameters

defaultAutoBaudChoice	Default auto baud choice. This should probably be the maximum reasonable reliable robust rate that the laser supports. The laser should autobaud up to this choice after it connects.
autoBaudChoices	The available choices for auto baud

◆ laserAllowDegreesChoices()

void ArLaser::laserAllowDegreesChoices	(	const char *	defaultDegreesChoice,
		std::map< std::string, double >	degreesChoices
	)

protected

Allows setting the degrees the laser uses to one of a number of choices.

Allows the choice of the laser degrees from one of a number of choices, only one of this and laserAllowSetDegrees should be used.

Parameters

defaultDegreesChoice	The default degrees, this should be the largest value.
degreesChoices	this is a mapping of std::strings to doubles, the strings should be the actual available choices, and the doubles should be the numerical representation... this is so the simulated laser can behave more easily like the real lasers... and because the original sick driver used words typed out (to make problems more obvious).

◆ laserAllowIncrementChoices()

void ArLaser::laserAllowIncrementChoices	(	const char *	defaultIncrementChoice,
		std::map< std::string, double >	incrementChoices
	)

protected

Allows setting the increment to one of a number of choices.

Allows the choice of increment from a limited set of values, only one of this and laserAllowSetIncrement should be used.

Parameters

defaultIncrementChoice	The default increment, this should be a reasonable value.
incrementChoices	this is a mapping of std::strings to doubles, the strings should be the actual available choices, and the doubles should be the numerical representation... this is so the simulated laser can behave more easily like the real lasers... and because the original sick driver used words typed out (to make problems more obvious).

◆ laserAllowReflectorBitsChoices()

void ArLaser::laserAllowReflectorBitsChoices	(	const char *	defaultReflectorBitsChoice,
		std::list< std::string >	reflectorBitsChoices
	)

protected

Allows setting the reflector bits the laser will use to one of a number of choices.

Parameters

defaultReflectorBitsChoice	The default choice for reflector bits, should be a reasonable value.
reflectorBitsChoices	The possible choices for reflector bits

◆ laserAllowSetDegrees()

void ArLaser::laserAllowSetDegrees	(	double	defaultStartDegrees,
		double	startDegreesMin,
		double	startDegreesMax,
		double	defaultEndDegrees,
		double	endDegreesMin,
		double	endDegreesMax
	)

protected

Allows setting the degrees the laser uses to anything in a range.

This allows the setting of the degrees the laser will use from a range for both starting and ending degrees.

Only one of this and laserAllowDegreesChoices should be used.

Parameters

defaultStartDegrees	The default start degrees to use, this default should probably be for the max range.
startDegreesMin	The minimum value for start degrees
startDegreesMax	The maximum value for start degrees
defaultEndDegrees	The default end degrees to use, this default should probably be for the max range.
endDegreesMin	The minimum value for end degrees
endDegreesMax	The maximum value for end degrees

◆ laserAllowSetIncrement()

void ArLaser::laserAllowSetIncrement	(	double	defaultIncrement,
		double	incrementMin,
		double	incrementMax
	)

protected

Allows setting the increment the laser uses to anything in a range.

Allows the choice of increment from a range, only one of this and laserAllowIncrementChoices should be used.

Parameters

defaultIncrement	The default increment to use, this default should be a reasonable value.
incrementMin	The minimum value for the increment
incrementMax	The maximum value for the increment

◆ laserAllowSetPowerControlled()

void ArLaser::laserAllowSetPowerControlled ( bool defaultPowerControlled )

protected

Allows setting if the power is controlled or not.

Allows settings of whether the power can be controlled or not.

This is mostly for devices that respond differently at power up than they do if they are already on (ie the lms2xx where it doesn't respond at all while powering up). If the communication is the same either way, you can just not set this.

Parameters

defaultPowerControlled The default value for power controlled.

◆ laserAllowStartingBaudChoices()

void ArLaser::laserAllowStartingBaudChoices	(	const char *	defaultStartingBaudChoice,
		std::list< std::string >	startingBaudChoices
	)

protected

Allows setting the starting baud to one of a number of choices.

Parameters

defaultStartingBaudChoice	Default starting baud choice. This should probably stay the same as what the sensor ships with.
startingBaudChoices	The available choices for starting baud

◆ laserAllowUnitsChoices()

void ArLaser::laserAllowUnitsChoices	(	const char *	defaultUnitsChoice,
		std::list< std::string >	unitsChoices
	)

protected

Allows setting the units the laser will use to one of a number of choices.

Parameters

defaultUnitsChoice	This is the default units choice, it should be a reasonable value.
unitsChoices	The possible choices for units.

◆ laserCheckLostConnection()

bool ArLaser::laserCheckLostConnection ( void )

protected

Returns if the laser has lost connection so that the subclass can do something appropriate.

This will check if the laser has lost connection.

If there is no robot it is a straightforward check of last reading time against getConnectionTimeoutSeconds. If there is a robot then it will not start the check until the laser is running and connected.

◆ laserCheckParams()

virtual bool ArLaser::laserCheckParams ( void )

inlinevirtual

Call the laser can implement to make sure the parameters are all okay or set the maximum range (based on the params)

The base laser should make sure all the parameters make sense according to what was set up as allowed.

This is here for two purposes. The first is to check for parameters that aren't valid because of something the base class can't check for. The second is to recalculate whatever the maximum range of the sensor is based on those settings, and call setAbsoluteMaxRange if the maximum range has changed based on the settings.

This is strictly an internal call, mostly for the simulated laser so that it can more closely match the real laser on complicated things like the LMS2xx where the settings for the units and bits affect what the maximum range is.

◆ laserProcessReadings()

void ArLaser::laserProcessReadings ( void )

protected

Converts the raw readings into the buffers (needs to be called by subclasses)

Filter readings, moving them from the raw current buffer to filtered current buffer (see ArRangeDevice), and then also to the cumulative buffer.

This must be called for the laser subclass to work right.

This also calls the reading callbacks.

◆ laserSetName()

void ArLaser::laserSetName ( const char * name )

protectedvirtual

Called when the lasers name is set.

This can be used to set the name on mutexes and such to match the laser's new name.

◆ setConnectionTimeoutSeconds()

void ArLaser::setConnectionTimeoutSeconds ( double seconds )

virtual

Sets the numter of seconds without a response until connection assumed lost.

Sets the time to go without a response from the laser until it is assumed that the connection with the laser has been broken and the disconnect on error events will happen.

If there is no robot then there is a straightforward check of last reading time against this value. If there is a robot then it will not start the check until the laser is running and connected.

Parameters

seconds if 0 or less then the connection timeout feature will be disabled, otherwise disconnect on error will be triggered after this number of miliseconds...

◆ setEndDegrees()

bool ArLaser::setEndDegrees ( double endDegrees )

Sets the end angle, it must be between getEndDegreesMin and getEndDegreesMax.

See also: canSetDegrees

◆ setIncrement()

bool ArLaser::setIncrement ( double increment )

Sets the increment.

See also: canSetIncrement

◆ setPowerControlled()

bool ArLaser::setPowerControlled ( bool powerControlled )

Sets if the power is controlled.

See also: canChoosePowerControlled

◆ setStartDegrees()

bool ArLaser::setStartDegrees ( double startDegrees )

Sets the start angle, it must be between getStartDegreesMin and getStartDegreesMax.

See also: canSetDegrees

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

ArLaser.h
ArLaser.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Function Documentation

◆ applyTransform()

◆ canChooseAutoBaud()

◆ canChooseDegrees()

◆ canChooseIncrement()

◆ canChooseReflectorBits()

◆ canChooseStartingBaud()

◆ canChooseUnits()

◆ canSetDegrees()

◆ canSetIncrement()

◆ canSetPowerControlled()

◆ chooseAutoBaud()

◆ chooseDegrees()

◆ chooseIncrement()

◆ chooseReflectorBits()

◆ chooseStartingBaud()

◆ chooseUnits()

◆ getAutoBaudChoice()

◆ getAutoBaudChoices()

◆ getAutoBaudChoicesString()

◆ getConnectionTimeoutSeconds()

◆ getDegreesChoice()

◆ getDegreesChoiceDouble()

◆ getDegreesChoices()

◆ getDegreesChoicesMap()

◆ getDegreesChoicesString()

◆ getEndDegrees()

◆ getEndDegreesMax()

◆ getEndDegreesMin()

◆ getIncrement()

◆ getIncrementChoice()

◆ getIncrementChoiceDouble()

◆ getIncrementChoices()

◆ getIncrementChoicesMap()

◆ getIncrementChoicesString()

◆ getIncrementMax()

◆ getIncrementMin()

◆ getPowerControlled()

◆ getReflectorBitsChoice()

◆ getReflectorBitsChoices()

◆ getReflectorBitsChoicesString()

◆ getStartDegrees()

◆ getStartDegreesMax()

◆ getStartDegreesMin()

◆ getStartingBaudChoice()

◆ getStartingBaudChoices()

◆ getStartingBaudChoicesString()

◆ getUnitsChoice()

◆ getUnitsChoices()

◆ getUnitsChoicesString()

◆ laserAllowAutoBaudChoices()

◆ laserAllowDegreesChoices()

◆ laserAllowIncrementChoices()

◆ laserAllowReflectorBitsChoices()

◆ laserAllowSetDegrees()

◆ laserAllowSetIncrement()

◆ laserAllowSetPowerControlled()

◆ laserAllowStartingBaudChoices()

◆ laserAllowUnitsChoices()

◆ laserCheckLostConnection()

◆ laserCheckParams()

◆ laserProcessReadings()

◆ laserSetName()

◆ setConnectionTimeoutSeconds()

◆ setEndDegrees()

◆ setIncrement()

◆ setPowerControlled()

◆ setStartDegrees()