YARP
Yet Another Robot Platform
IRangefinder2D.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#ifndef YARP_DEV_IRANGEFINDER2D_H
7#define YARP_DEV_IRANGEFINDER2D_H
8
9#include <yarp/os/Vocab.h>
10#include <yarp/dev/api.h>
11#include <yarp/sig/Vector.h>
13#include <vector>
14#include <string>
15
22
23namespace yarp::dev {
24class IRangefinder2D;
25}
26
33{
34public:
36 {
37 DEVICE_OK_STANBY = 0,
38 DEVICE_OK_IN_USE = 1,
39 DEVICE_GENERAL_ERROR = 2,
40 DEVICE_TIMEOUT = 3
41 };
42
43 virtual ~IRangefinder2D();
44
51 virtual bool getLaserMeasurement(std::vector<LaserMeasurementData> &data, double* timestamp = nullptr) = 0;
52
59 virtual bool getRawData(yarp::sig::Vector &data, double* timestamp = nullptr) = 0;
60
66 virtual bool getDeviceStatus(Device_status& status) = 0;
67
74 virtual bool getDistanceRange(double& min, double& max) = 0;
75
82 virtual bool setDistanceRange(double min, double max) = 0;
83
90 virtual bool getScanLimits(double& min, double& max) = 0;
91
98 virtual bool setScanLimits(double min, double max) = 0;
99
105 virtual bool getHorizontalResolution(double& step) = 0;
106
112 virtual bool setHorizontalResolution(double step) = 0;
113
119 virtual bool getScanRate(double& rate) = 0;
120
126 virtual bool setScanRate(double rate) = 0;
127
133 virtual bool getDeviceInfo(std::string &device_info) = 0;
134};
135
136#endif // YARP_DEV_IRANGEFINDER2D_H
constexpr yarp::conf::vocab32_t VOCAB_LASER_ANGULAR_RANGE
constexpr yarp::conf::vocab32_t VOCAB_LASER_SCAN_RATE
constexpr yarp::conf::vocab32_t VOCAB_ILASER2D
constexpr yarp::conf::vocab32_t VOCAB_LASER_DISTANCE_RANGE
constexpr yarp::conf::vocab32_t VOCAB_DEVICE_INFO
constexpr yarp::conf::vocab32_t VOCAB_LASER_ANGULAR_STEP
contains the definition of a Vector type
A generic interface for planar laser range finders.
virtual bool setScanLimits(double min, double max)=0
set the scan angular range.
virtual bool setScanRate(double rate)=0
set the scan rate (scans per seconds)
virtual bool getDistanceRange(double &min, double &max)=0
get the device detection range
virtual bool setHorizontalResolution(double step)=0
get the angular step between two measurements (if available)
virtual bool setDistanceRange(double min, double max)=0
set the device detection range.
virtual bool getDeviceInfo(std::string &device_info)=0
get the device hardware characteristics
virtual bool getLaserMeasurement(std::vector< LaserMeasurementData > &data, double *timestamp=nullptr)=0
Get the device measurements.
virtual bool getScanRate(double &rate)=0
get the scan rate (scans per seconds)
virtual bool getScanLimits(double &min, double &max)=0
get the scan angular range.
virtual bool getHorizontalResolution(double &step)=0
get the angular step between two measurements.
virtual bool getRawData(yarp::sig::Vector &data, double *timestamp=nullptr)=0
Get the device measurements.
virtual bool getDeviceStatus(Device_status &status)=0
get the device status
std::int32_t vocab32_t
Definition: numeric.h:78
For streams capable of holding different kinds of content, check what they actually have.
constexpr yarp::conf::vocab32_t createVocab32(char a, char b=0, char c=0, char d=0)
Create a vocab from chars.
Definition: Vocab.h:27
The main, catch-all namespace for YARP.
Definition: dirs.h:16
#define YARP_dev_API
Definition: api.h:18