YARP
Yet Another Robot Platform
LaserFromDepth Class Reference

laserFromDepth: Documentation to be added More...

#include <laserFromDepth/laserFromDepth.h>

+ Inheritance diagram for LaserFromDepth:

Public Member Functions

 LaserFromDepth (double period=0.01)
 
 ~LaserFromDepth ()
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool threadInit () override
 Initialization method. More...
 
void threadRelease () override
 Release method. More...
 
void run () override
 Loop function. More...
 
bool setDistanceRange (double min, double max) override
 set the device detection range. More...
 
bool setScanLimits (double min, double max) override
 set the scan angular range. More...
 
bool setHorizontalResolution (double step) override
 get the angular step between two measurments (if available) More...
 
bool setScanRate (double rate) override
 set the scan rate (scans per seconds) More...
 
bool acquireDataFromHW () override final
 This method should be implemented by the user, and contain the logic to grab data from the hardware. More...
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor. More...
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor. More...
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread. More...
 
void step ()
 Call this to "step" the thread rather than starting it. More...
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...
 
void askToStop ()
 Stop the thread. More...
 
bool isRunning () const
 Returns true when the thread is started, false otherwise. More...
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise. More...
 
bool setPeriod (double period)
 Set the (new) period of the thread. More...
 
double getPeriod () const
 Return the current period of the thread. More...
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed. More...
 
void resume ()
 Resume the thread if previously suspended. More...
 
void resetStat ()
 Reset thread statistics. More...
 
double getEstimatedPeriod () const
 Return estimated period since last reset. More...
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset. More...
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset. More...
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset. More...
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset. More...
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that. More...
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that. More...
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that. More...
 
- Public Member Functions inherited from yarp::dev::Lidar2DDeviceBase
bool parseConfiguration (yarp::os::Searchable &config)
 
 Lidar2DDeviceBase ()
 
bool getRawData (yarp::sig::Vector &data, double *timestamp=nullptr) override
 Get the device measurements. More...
 
bool getLaserMeasurement (std::vector< LaserMeasurementData > &data, double *timestamp=nullptr) 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 ()
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (DeviceDriver &&other) noexcept=delete
 
 ~DeviceDriver () override
 
virtual std::string id () const
 Return the id assigned to the PolyDriver. More...
 
virtual void setId (const std::string &id)
 Set the id for this device. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 

Protected Attributes

PolyDriver driver
 
IRGBDSensoriRGBD = nullptr
 
size_t m_depth_width = 0
 
size_t m_depth_height = 0
 
yarp::sig::ImageOf< float > m_depth_image
 
- Protected Attributes inherited from yarp::dev::Lidar2DDeviceBase
yarp::sig::Vector m_laser_data
 
yarp::os::Stamp m_timestamp
 
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_tm_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
}
 
- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void beforeStart ()
 Called just before a new thread starts. More...
 
virtual void afterStart (bool success)
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...
 
- Protected Member Functions inherited from yarp::dev::Lidar2DDeviceBase
virtual bool updateLidarData ()
 This utility method calls in sequence: grabDataFromHW(), updateTimestamp and applyLimitsOnLaserData(). More...
 
virtual bool updateTimestamp ()
 By default, it automatically updates the internal timestamp with the yarp time. More...
 
virtual bool applyLimitsOnLaserData ()
 Apply the limits on the internally stored lidar measurements. More...
 

Detailed Description

laserFromDepth: Documentation to be added

Definition at line 33 of file laserFromDepth.h.

Constructor & Destructor Documentation

◆ LaserFromDepth()

LaserFromDepth::LaserFromDepth ( double  period = 0.01)
inline

Definition at line 44 of file laserFromDepth.h.

◆ ~LaserFromDepth()

LaserFromDepth::~LaserFromDepth ( )
inline

Definition at line 48 of file laserFromDepth.h.

Member Function Documentation

◆ acquireDataFromHW()

bool LaserFromDepth::acquireDataFromHW ( )
finaloverridevirtual

This method should be implemented by the user, and contain the logic to grab data from the hardware.

Returns
true/false if the method is successful.

Implements yarp::dev::Lidar2DDeviceBase.

Definition at line 139 of file laserFromDepth.cpp.

◆ close()

bool LaserFromDepth::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 88 of file laserFromDepth.cpp.

◆ open()

bool LaserFromDepth::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).
Returns
true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 31 of file laserFromDepth.cpp.

◆ run()

void LaserFromDepth::run ( )
overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 177 of file laserFromDepth.cpp.

◆ setDistanceRange()

bool LaserFromDepth::setDistanceRange ( double  min,
double  max 
)
overridevirtual

set the device detection range.

Invalid setting will be discarded.

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

Implements yarp::dev::IRangefinder2D.

Definition at line 100 of file laserFromDepth.cpp.

◆ setHorizontalResolution()

bool LaserFromDepth::setHorizontalResolution ( double  step)
overridevirtual

get the angular step between two measurments (if available)

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

Implements yarp::dev::IRangefinder2D.

Definition at line 115 of file laserFromDepth.cpp.

◆ setScanLimits()

bool LaserFromDepth::setScanLimits ( double  min,
double  max 
)
overridevirtual

set the scan angular range.

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

Implements yarp::dev::IRangefinder2D.

Definition at line 108 of file laserFromDepth.cpp.

◆ setScanRate()

bool LaserFromDepth::setScanRate ( double  rate)
overridevirtual

set the scan rate (scans per seconds)

Parameters
ratethe scan rate
Returns
true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 122 of file laserFromDepth.cpp.

◆ threadInit()

bool LaserFromDepth::threadInit ( )
overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 129 of file laserFromDepth.cpp.

◆ threadRelease()

void LaserFromDepth::threadRelease ( )
overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 185 of file laserFromDepth.cpp.

Member Data Documentation

◆ driver

PolyDriver LaserFromDepth::driver
protected

Definition at line 36 of file laserFromDepth.h.

◆ iRGBD

IRGBDSensor* LaserFromDepth::iRGBD = nullptr
protected

Definition at line 37 of file laserFromDepth.h.

◆ m_depth_height

size_t LaserFromDepth::m_depth_height = 0
protected

Definition at line 40 of file laserFromDepth.h.

◆ m_depth_image

yarp::sig::ImageOf<float> LaserFromDepth::m_depth_image
protected

Definition at line 41 of file laserFromDepth.h.

◆ m_depth_width

size_t LaserFromDepth::m_depth_width = 0
protected

Definition at line 39 of file laserFromDepth.h.


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