Rangefinder2DTransformer: A device which acts a virtual laser, it attaches to another lidar, which provides a stream a measurements, and reclocates them in the space. More...

#include <Rangefinder2DTransformer/Rangefinder2DTransformer.h>

Inheritance diagram for Rangefinder2DTransformer:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	getLaserMeasurement (std::vector< yarp::sig::LaserMeasurementData > &data, double *timestamp=nullptr) override
	Get the device measurements.

bool	getRawData (yarp::sig::Vector &data, double *timestamp=nullptr) override
	Get the device measurements.

bool	getDeviceStatus (Device_status &status) override
	get the device status

bool	getDistanceRange (double &min, double &max) override
	get the device detection range

bool	setDistanceRange (double min, double max) override
	set the device detection range.

bool	getScanLimits (double &min, double &max) override
	get the scan angular range.

bool	setScanLimits (double min, double max) override
	set the scan angular range.

bool	getHorizontalResolution (double &step) override
	get the angular step between two measurements.

bool	setHorizontalResolution (double step) override
	get the angular step between two measurements (if available)

bool	getScanRate (double &rate) override
	get the scan rate (scans per seconds)

bool	setScanRate (double rate) override
	set the scan rate (scans per seconds)

bool	getDeviceInfo (std::string &device_info) override
	get the device hardware characteristics

bool	attach (yarp::dev::PolyDriver *driver) override
	Attach to another object.

bool	detach () override
	Detach the object (you must have first called attach).

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::IRangefinder2D
virtual	~IRangefinder2D ()

Public Member Functions inherited from yarp::dev::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

bool	detachAll () final
	Detach the object (you must have first called attach).

Public Member Functions inherited from yarp::dev::IWrapper
virtual	~IWrapper ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

Public Member Functions inherited from Rangefinder2DTransformer_ParamsParser
	Rangefinder2DTransformer_ParamsParser ()

	~Rangefinder2DTransformer_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

std::string	getDocumentationOfRangefinder2DTransformer () const

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Protected Attributes
yarp::dev::IRangefinder2D *	sens_p =nullptr

double	m_scan_angle_min = std::nan("1")

double	m_scan_angle_max = std::nan("1")

Additional Inherited Members
Public Types inherited from yarp::dev::IRangefinder2D
enum	Device_status { DEVICE_OK_STANDBY = 0 , DEVICE_OK_IN_USE = 1 , DEVICE_GENERAL_ERROR = 2 , DEVICE_TIMEOUT = 3 }

Public Attributes inherited from Rangefinder2DTransformer_ParamsParser
const std::string	m_device_classname = {"Rangefinder2DTransformer"}

const std::string	m_device_name = {"rangefinder2DTransformer"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_device_position_x_defaultValue = {"0"}

const std::string	m_device_position_y_defaultValue = {"0"}

const std::string	m_device_position_theta_defaultValue = {"0"}

const std::string	m_laser_frame_name_defaultValue = {""}

const std::string	m_robot_frame_name_defaultValue = {""}

double	m_device_position_x = {0}

double	m_device_position_y = {0}

double	m_device_position_theta = {0}

std::string	m_laser_frame_name = {}

std::string	m_robot_frame_name = {}

Detailed Description

Rangefinder2DTransformer: A device which acts a virtual laser, it attaches to another lidar, which provides a stream a measurements, and reclocates them in the space.

The new origin can be specified both manually, as a 2D point in space, or though a tranform.

Parameters required by this device are shown in class: Rangefinder2DTransformer_ParamsParser

Definition at line 39 of file Rangefinder2DTransformer.h.

Member Function Documentation

◆ attach()

bool Rangefinder2DTransformer::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 194 of file Rangefinder2DTransformer.cpp.

◆ close()

bool Rangefinder2DTransformer::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 84 of file Rangefinder2DTransformer.cpp.

◆ detach()

bool Rangefinder2DTransformer::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 214 of file Rangefinder2DTransformer.cpp.

◆ getDeviceInfo()

bool Rangefinder2DTransformer::getDeviceInfo ( std::string & device_info )

overridevirtual

get the device hardware characteristics

Parameters

device_info string containing the device infos

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 189 of file Rangefinder2DTransformer.cpp.

◆ getDeviceStatus()

bool Rangefinder2DTransformer::getDeviceStatus ( Device_status & status )

overridevirtual

get the device status

Parameters

status the device status

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 184 of file Rangefinder2DTransformer.cpp.

◆ getDistanceRange()

bool Rangefinder2DTransformer::getDistanceRange	(	double &	min,
		double &	max
	)

overridevirtual

get the device detection range

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 144 of file Rangefinder2DTransformer.cpp.

◆ getHorizontalResolution()

bool Rangefinder2DTransformer::getHorizontalResolution ( double & step )

overridevirtual

get the angular step between two measurements.

Parameters

step	the angular step between two measurements

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 164 of file Rangefinder2DTransformer.cpp.

◆ getLaserMeasurement()

bool Rangefinder2DTransformer::getLaserMeasurement	(	std::vector< yarp::sig::LaserMeasurementData > &	data,
		double *	timestamp = `nullptr`
	)

overridevirtual

Get the device measurements.

Parameters

data	a vector containing the measurement data, expressed in Cartesian/polar format
timestamp	the timestamp of the retrieved data.

Returns: true/false

Implements yarp::dev::IRangefinder2D.

Definition at line 106 of file Rangefinder2DTransformer.cpp.

◆ getRawData()

bool Rangefinder2DTransformer::getRawData	(	yarp::sig::Vector &	data,
		double *	timestamp = `nullptr`
	)

overridevirtual

Get the device measurements.

Parameters

ranges	the vector containing the raw measurement data, as acquired by the device.
timestamp	the timestamp of the retrieved data.

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 89 of file Rangefinder2DTransformer.cpp.

◆ getScanLimits()

bool Rangefinder2DTransformer::getScanLimits	(	double &	min,
		double &	max
	)

overridevirtual

get the scan angular range.

Parameters

min	start angle of the scan
max	end angle of the scan

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 154 of file Rangefinder2DTransformer.cpp.

◆ getScanRate()

bool Rangefinder2DTransformer::getScanRate ( double & rate )

overridevirtual

get the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 174 of file Rangefinder2DTransformer.cpp.

◆ open()

bool Rangefinder2DTransformer::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is 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 Rangefinder2DTransformer.cpp.

◆ setDistanceRange()

bool Rangefinder2DTransformer::setDistanceRange	(	double	min,
		double	max
	)

overridevirtual

set the device detection range.

Invalid setting will be discarded.

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 149 of file Rangefinder2DTransformer.cpp.

◆ setHorizontalResolution()

bool Rangefinder2DTransformer::setHorizontalResolution ( double step )

overridevirtual

get the angular step between two measurements (if available)

Parameters

step	the angular step between two measurements

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 169 of file Rangefinder2DTransformer.cpp.

◆ setScanLimits()

bool Rangefinder2DTransformer::setScanLimits	(	double	min,
		double	max
	)

overridevirtual

set the scan angular range.

Parameters

min	start angle of the scan
max	end angle of the scan

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 159 of file Rangefinder2DTransformer.cpp.

◆ setScanRate()

bool Rangefinder2DTransformer::setScanRate ( double rate )

overridevirtual

set the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 179 of file Rangefinder2DTransformer.cpp.

Member Data Documentation

◆ m_scan_angle_max

double Rangefinder2DTransformer::m_scan_angle_max = std::nan("1")

protected

Definition at line 51 of file Rangefinder2DTransformer.h.

◆ m_scan_angle_min

double Rangefinder2DTransformer::m_scan_angle_min = std::nan("1")

protected

Definition at line 50 of file Rangefinder2DTransformer.h.

◆ sens_p

yarp::dev::IRangefinder2D* Rangefinder2DTransformer::sens_p =nullptr

protected

Definition at line 47 of file Rangefinder2DTransformer.h.

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

src/devices/Rangefinder2DTransformer/Rangefinder2DTransformer.h
src/devices/Rangefinder2DTransformer/Rangefinder2DTransformer.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ getDeviceInfo()

◆ getDeviceStatus()

◆ getDistanceRange()

◆ getHorizontalResolution()

◆ getLaserMeasurement()

◆ getRawData()

◆ getScanLimits()

◆ getScanRate()

◆ open()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

Member Data Documentation

◆ m_scan_angle_max

◆ m_scan_angle_min

◆ sens_p