URG sensor control. More...

#include <UrgDevice.h>

Inheritance diagram for qrk::UrgDevice:

Public Types
enum	{ DefaultBaudrate = 115200, DefaultRetryTimes = 8, Infinity = 0, Off = 0, On = 1 }
	Parameter of options. More...
Public Member Functions
const char *	what (void) const
	Returns internal status.
bool	connect (const char *device, long baudrate=DefaultBaudrate)
	Connection.
void	setConnection (Connection *con)
	Specifies the connection object.
Connection *	connection (void)
	Get connection object.
void	disconnect (void)
	Disconnect.
bool	isConnected (void) const
	Returns connection status.
long	minDistance (void) const
	Get valid minimum distance.
long	maxDistance (void) const
	Get valid maximum distance.
int	maxScanLines (void) const
	Get Max scan index.
void	setRetryTimes (size_t times)
	Set number of retry times when connection failed.
void	setCapturesSize (size_t size)
	Set number of scan data stored internally.
int	scanMsec (void) const
	Time taken for 1scan.
void	setCaptureMode (RangeCaptureMode mode)
	Specification of data acquisition mode.
RangeCaptureMode	captureMode (void)
	Data acquisition mode.
void	setCaptureRange (int begin_index, int end_index)
	Specifies the range of data acquisition.
void	setCaptureFrameInterval (size_t interval)
	Acquisition interval of scanning data.
void	setCaptureTimes (size_t times)
	Specify the frequency of data acquisition.
size_t	remainCaptureTimes (void)
	Get number of remaining capture times.
void	setCaptureSkipLines (size_t skip_lines)
	Specify the number of scanline to be skipped.
int	capture (std::vector< long > &data, long *timestamp=NULL)
	Get data.
int	captureWithIntensity (std::vector< long > &data, std::vector< long > &intensity_data, long *timestamp=NULL)
void	stop (void)
	Stop data acquisition.
bool	setTimestamp (int timestamp=0, int response_msec=NULL, int force_delay_msec=NULL)
	Sets the timestamp value. Sensor returs this timestamp value.
long	recentTimestamp (void) const
	Latest time stamp value.
bool	setLaserOutput (bool on)
	Laser turn Off/ turn On.
double	index2rad (const int index) const
	Radian to angle conversion of data index.
int	rad2index (const double radian) const
	radian Convert angle in radian to data index
void	setParameter (const RangeSensorParameter &parameter)
	Update URG parameter.
RangeSensorParameter	parameter (void) const
	Get URG parameter.
bool	loadParameter (void)
	Again read the URG parameter.
bool	versionLines (std::vector< std::string > &lines)
	Get version information.
bool	reboot (void)
	Reboot URG.
Protected Member Functions
virtual void	captureReceived (void)

Detailed Description

URG sensor control.

Examples:: acquire_data.cpp, and serialId.cpp.

Definition at line 23 of file UrgDevice.h.

Member Enumeration Documentation

anonymous enum

Parameter of options.

Enumerator:

DefaultBaudrate	[bps]
Off	Laser is off.
On	Laser is on.

Definition at line 28 of file UrgDevice.h.

Member Function Documentation

const char * UrgDevice::what ( void ) const [virtual]

Returns internal status.

Returns:: String that represent internal status

Example

UrgCtrl sensor;
if (! sensor.connect(device, baudrate)) {
  // Displays error message when connection is failed.
  printf("connect: %s\n", sensor.what());
  exit(1);
}

Implements qrk::RangeSensor.

Examples:: acquire_data.cpp, and serialId.cpp.

Definition at line 751 of file UrgDevice.cpp.

bool UrgDevice::connect	(	const char *	device,
		long	baudrate = `DefaultBaudrate`
	)		`[virtual]`

Connection.

Parameters:

[in]	device	Connected device name
[in]	baudrate	Baudrate

Return values:

true	Success
false	Failure

Example

const char device[] = "/dev/ttyACM0";
const long baudrate = 115200;
UrgCtrl sensor;

// Connect to specified device
if (! sensor.connect(device, baudrate)) {
  printf("connect: %s\n", sensor.what());
  exit(1);
}

Implements qrk::RangeSensor.

Examples:: acquire_data.cpp, and serialId.cpp.

Definition at line 757 of file UrgDevice.cpp.

void UrgDevice::setConnection ( Connection * con ) [virtual]

Specifies the connection object.

Parameters:

[in] con Connection object

Implements qrk::RangeSensor.

Definition at line 763 of file UrgDevice.cpp.

Connection * UrgDevice::connection ( void ) [virtual]

Get connection object.

Returns:: Connection object

Implements qrk::RangeSensor.

Definition at line 771 of file UrgDevice.cpp.

void UrgDevice::disconnect ( void ) [virtual]

Disconnect.

Implements qrk::RangeSensor.

Definition at line 777 of file UrgDevice.cpp.

bool UrgDevice::isConnected ( void ) const [virtual]

Returns connection status.

Return values:

true	If connected.
false	if disconnected.

Implements qrk::RangeSensor.

Definition at line 783 of file UrgDevice.cpp.

long UrgDevice::minDistance ( void ) const [virtual]

Get valid minimum distance.

Returns:: valid minimum distance

Implements qrk::RangeSensor.

Definition at line 789 of file UrgDevice.cpp.

long UrgDevice::maxDistance ( void ) const [virtual]

Get valid maximum distance.

Returns:: Valid maximum distance

Implements qrk::RangeSensor.

Definition at line 795 of file UrgDevice.cpp.

int UrgDevice::maxScanLines ( void ) const [virtual]

Get Max scan index.

Returns:: Max scan index

Implements qrk::RangeSensor.

Definition at line 801 of file UrgDevice.cpp.

void UrgDevice::setRetryTimes ( size_t times )

Set number of retry times when connection failed.

The retry counter is cleared when connect normaly.

Parameters:

[in] times retry times

Attention:: Data acquisition mode is valid only at AutoCapture

Definition at line 808 of file UrgDevice.cpp.

void UrgDevice::setCapturesSize ( size_t size )

Set number of scan data stored internally.

Parameters:

[in] size Number of scanning data to be stored

Definition at line 814 of file UrgDevice.cpp.

int UrgDevice::scanMsec ( void ) const [virtual]

Time taken for 1scan.

Returns:: Time taken for 1scan.[msec]

Implements qrk::RangeSensor.

Definition at line 826 of file UrgDevice.cpp.

void UrgDevice::setCaptureMode ( RangeCaptureMode mode ) [virtual]

Specification of data acquisition mode.

Parameters:

[in] mode The mode defined by RangeCaptureMode can be specified

See also:: captureMode()

Implements qrk::RangeSensor.

Definition at line 833 of file UrgDevice.cpp.

RangeCaptureMode UrgDevice::captureMode ( void ) [virtual]

Data acquisition mode.

Returns:: Present data acquisition mode

See also:: setCaptureMode()

Implements qrk::RangeSensor.

Definition at line 853 of file UrgDevice.cpp.

void UrgDevice::setCaptureRange	(	int	begin_index,
		int	end_index
	)

Specifies the range of data acquisition.

Refer to scip_capture_parameter_section.

Parameters:

[in]	begin_index	Measurement beginning position
[in]	end_index	Measurement end position

Definition at line 859 of file UrgDevice.cpp.

void UrgDevice::setCaptureFrameInterval ( size_t interval )

Acquisition interval of scanning data.

The data traffic between URG and the library can be decreased by lowering the frequency of data acquisition. refer to scip_capture_parameter_section

Parameters:

[in] interval capture interval

Definition at line 872 of file UrgDevice.cpp.

void UrgDevice::setCaptureTimes ( size_t times )

Specify the frequency of data acquisition.

Refer to scip_capture_parameter_section

Parameters:

[in] times Frequency of data acquisition

Attention:: Specify UrgInfinityTimes to acquire data infinity times.; Data acquisition mode is valid only at AutoCapture, IntensityCapture.

Definition at line 884 of file UrgDevice.cpp.

size_t UrgDevice::remainCaptureTimes ( void )

Get number of remaining capture times.

Returns:: number of remaining capture times

Attention:: Data acquisition mode is valid only at AutoCapture, IntensityCapture

Definition at line 820 of file UrgDevice.cpp.

void UrgDevice::setCaptureSkipLines ( size_t skip_lines )

Specify the number of scanline to be skipped.

The number of thinning out of acquisition data in one scanning is specified.

Parameters:

[in] skip_lines number of scanline to be skipped.

For example, if number of scan lines to be skipped = 1 , then will be

          100, 101, 103, 104, 105, 100, ...

In case, number of scanlines to be skipped = 2, then acquired data will be

          100, 103, 100, ...

(The shortest distance data is returned. )
As a result, the data traffic between URG and the library can be decreased. However, the volume of data that capture() returns doesnot change. Returns

          100, 100, 103, 103, 100, 100, ...

To guarantee the operation of rad2index() and index2rad(), volume of data does not changing :.

Definition at line 898 of file UrgDevice.cpp.

int UrgDevice::capture	(	std::vector< long > &	data,
		long *	timestamp = `NULL`
	)		`[virtual]`

Get data.

Get data and store it in buffer.

Parameters:

[out]	data	Buffer to store data
[out]	timestamp	Time stamp

Returns:: Number of data recieved.

Return values:

<0	Receiving failed

Implements qrk::RangeSensor.

Examples:: acquire_data.cpp.

Definition at line 908 of file UrgDevice.cpp.

void UrgDevice::stop ( void )

Stop data acquisition.

Attention:: Data acquisition mode is valid only at AutoCapture, IntensityCapture

Definition at line 925 of file UrgDevice.cpp.

bool UrgDevice::setTimestamp	(	int	timestamp = `0`,
		int *	response_msec = `NULL`,
		int *	force_delay_msec = `NULL`
	)		`[virtual]`

Sets the timestamp value. Sensor returs this timestamp value.

Sets the time stamp that can be acquired with capture().

Parameters:

[in]	ticks	Set value of time stamp at that time
[out]	response_msec	Response time for sending and receiving message [msec]
[in]	force_delay_msec	Forced delay

Return values:

true	Success
false	Failure

Implements qrk::RangeSensor.

Definition at line 931 of file UrgDevice.cpp.

long UrgDevice::recentTimestamp ( void ) const [virtual]

Latest time stamp value.

Returns:: Time stamp value

Reimplemented from qrk::RangeSensor.

Definition at line 940 of file UrgDevice.cpp.

bool UrgDevice::setLaserOutput ( bool on ) [virtual]

Laser turn Off/ turn On.

Parameters:

[in] on true to turn On , false to turn off

Implements qrk::RangeSensor.

Definition at line 946 of file UrgDevice.cpp.

double UrgDevice::index2rad ( const int index ) const [virtual]

Radian to angle conversion of data index.

Front of sensor is considered as 0.0 in radians.

Parameters:

[in] index Data index

Returns:: angle [radian]

upper view

See also:: index2deg(), rad2index(), deg2index()

Implements qrk::RangeSensor.

Definition at line 954 of file UrgDevice.cpp.

int UrgDevice::rad2index ( const double radian ) const [virtual]

radian Convert angle in radian to data index

Front of sensor is considered as 0.0 in radians.

Parameters:

[in] radian angle [radian]

Returns:: Data index

See also:: deg2index(), index2rad(), index2deg()

Implements qrk::RangeSensor.

Definition at line 961 of file UrgDevice.cpp.

void UrgDevice::setParameter ( const RangeSensorParameter & parameter ) [virtual]

Update URG parameter.

Parameters:

[in] parameter data used to update URG parameter

Implements qrk::RangeSensor.

Definition at line 967 of file UrgDevice.cpp.

RangeSensorParameter UrgDevice::parameter ( void ) const [virtual]

Get URG parameter.

Returns:: URG parameter

Implements qrk::RangeSensor.

Definition at line 974 of file UrgDevice.cpp.

bool UrgDevice::loadParameter ( void )

Again read the URG parameter.

Return values:

true	success
false	error

Definition at line 980 of file UrgDevice.cpp.

bool UrgDevice::versionLines ( std::vector< std::string > & lines )

Get version information.

Parameters:

[out] lines Storage location of version information

Return values:

true	success
false	error

Example

viewVvSample::cpp

Definition at line 986 of file UrgDevice.cpp.

bool UrgDevice::reboot ( void )

Reboot URG.

Attention:: Only Top-URG (2010-02-04)

Definition at line 996 of file UrgDevice.cpp.

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

libs/range_sensor/UrgDevice.h
libs/range_sensor/UrgDevice.cpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

Member Function Documentation