#include <yarp/dev/Lidar2DDeviceBase.h>

Inheritance diagram for yarp::dev::Lidar2DDeviceBase:

Public Member Functions
bool	parseConfiguration (yarp::os::Searchable &config)

	Lidar2DDeviceBase ()

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

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

yarp::dev::ReturnValue	getDeviceStatus (Device_status &status) override
	get the device status

yarp::dev::ReturnValue	getDeviceInfo (std::string &device_info) override
	get the device hardware characteristics

yarp::dev::ReturnValue	getDistanceRange (double &min, double &max) override
	get the device detection range

yarp::dev::ReturnValue	getScanLimits (double &min, double &max) override
	get the scan angular range.

yarp::dev::ReturnValue	getHorizontalResolution (double &step) override
	get the angular step between two measurements.

yarp::dev::ReturnValue	getScanRate (double &rate) override
	get the scan rate (scans per seconds)

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

virtual ReturnValue	setDistanceRange (double min, double max)=0
	set the device detection range.

virtual ReturnValue	setScanLimits (double min, double max)=0
	set the scan angular range.

virtual ReturnValue	setHorizontalResolution (double step)=0
	get the angular step between two measurements (if available)

virtual ReturnValue	setScanRate (double rate)=0
	set the scan rate (scans per seconds)

Protected Member Functions
virtual bool	updateLidarData ()
	This utility method calls in sequence: grabDataFromHW(), updateTimestamp and applyLimitsOnLaserData().

virtual bool	updateTimestamp ()
	By default, it automatically updates the internal timestamp with the yarp time.

virtual bool	applyLimitsOnLaserData ()
	Apply the limits on the internally stored lidar measurements.

virtual bool	acquireDataFromHW ()=0
	This method should be implemented by the user, and contain the logic to grab data from the hardware.

Protected Attributes
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_t >	m_range_skip_vector

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 }

Detailed Description

The Lidar2DDeviceBase class.

This class has been designed to uniform the parsing of lidar yarp devices.

Definition at line 29 of file Lidar2DDeviceBase.h.

Constructor & Destructor Documentation

◆ Lidar2DDeviceBase()

Lidar2DDeviceBase::Lidar2DDeviceBase ( )

Definition at line 105 of file Lidar2DDeviceBase.cpp.

Member Function Documentation

◆ acquireDataFromHW()

virtual bool yarp::dev::Lidar2DDeviceBase::acquireDataFromHW ( )

protectedpure virtual

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.

Implemented in RpLidar2, RpLidar3, RpLidar4, LaserFromRosTopic, FakeLaser, FakeLaserWithMotor, LaserFromDepth, LaserFromExternalPort, and LaserFromPointCloud.

◆ applyLimitsOnLaserData()

bool Lidar2DDeviceBase::applyLimitsOnLaserData ( )

protectedvirtual

Apply the limits on the internally stored lidar measurements.

Returns: true/false if the method is successful.

Definition at line 238 of file Lidar2DDeviceBase.cpp.

◆ getDeviceInfo()

ReturnValue Lidar2DDeviceBase::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 72 of file Lidar2DDeviceBase.cpp.

◆ getDeviceStatus()

ReturnValue Lidar2DDeviceBase::getDeviceStatus ( Device_status & status )

overridevirtual

get the device status

Parameters

status the device status

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 47 of file Lidar2DDeviceBase.cpp.

◆ getDistanceRange()

ReturnValue Lidar2DDeviceBase::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 32 of file Lidar2DDeviceBase.cpp.

◆ getHorizontalResolution()

ReturnValue Lidar2DDeviceBase::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 40 of file Lidar2DDeviceBase.cpp.

◆ getLaserMeasurement()

ReturnValue Lidar2DDeviceBase::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 79 of file Lidar2DDeviceBase.cpp.

◆ getRawData()

ReturnValue Lidar2DDeviceBase::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 54 of file Lidar2DDeviceBase.cpp.

◆ getScanLimits()

ReturnValue Lidar2DDeviceBase::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 24 of file Lidar2DDeviceBase.cpp.

◆ getScanRate()

ReturnValue Lidar2DDeviceBase::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 65 of file Lidar2DDeviceBase.cpp.

◆ parseConfiguration()

bool Lidar2DDeviceBase::parseConfiguration ( yarp::os::Searchable & config )

Definition at line 119 of file Lidar2DDeviceBase.cpp.

◆ updateLidarData()

bool Lidar2DDeviceBase::updateLidarData ( )

protectedvirtual

This utility method calls in sequence: grabDataFromHW(), updateTimestamp and applyLimitsOnLaserData().

It is recommended that the device driver implementation calls this method to perform the aforementioned three operations.

Returns: true/false if the methods called internally are all successful

Definition at line 280 of file Lidar2DDeviceBase.cpp.

◆ updateTimestamp()

bool Lidar2DDeviceBase::updateTimestamp ( )

protectedvirtual

By default, it automatically updates the internal timestamp with the yarp time.

It can be redefined by the user if the timestamp source is for example the hardware device.

Returns: true/false if the update is successful.

Definition at line 295 of file Lidar2DDeviceBase.cpp.

Member Data Documentation

◆ m_clip_max_enable

bool yarp::dev::Lidar2DDeviceBase::m_clip_max_enable

protected

Definition at line 48 of file Lidar2DDeviceBase.h.

◆ m_clip_min_enable

bool yarp::dev::Lidar2DDeviceBase::m_clip_min_enable

protected

Definition at line 49 of file Lidar2DDeviceBase.h.

◆ m_device_status

yarp::dev::IRangefinder2D::Device_status yarp::dev::Lidar2DDeviceBase::m_device_status

protected

Definition at line 35 of file Lidar2DDeviceBase.h.

◆ m_do_not_clip_and_allow_infinity_enable

bool yarp::dev::Lidar2DDeviceBase::m_do_not_clip_and_allow_infinity_enable

protected

Definition at line 50 of file Lidar2DDeviceBase.h.

◆ m_info

std::string yarp::dev::Lidar2DDeviceBase::m_info

protected

Definition at line 40 of file Lidar2DDeviceBase.h.

◆ m_laser_data

yarp::sig::Vector yarp::dev::Lidar2DDeviceBase::m_laser_data

protected

Definition at line 33 of file Lidar2DDeviceBase.h.

◆ m_max_angle

double yarp::dev::Lidar2DDeviceBase::m_max_angle

protected

Definition at line 44 of file Lidar2DDeviceBase.h.

◆ m_max_distance

double yarp::dev::Lidar2DDeviceBase::m_max_distance

protected

Definition at line 46 of file Lidar2DDeviceBase.h.

◆ m_min_angle

double yarp::dev::Lidar2DDeviceBase::m_min_angle

protected

Definition at line 43 of file Lidar2DDeviceBase.h.

◆ m_min_distance

double yarp::dev::Lidar2DDeviceBase::m_min_distance

protected

Definition at line 45 of file Lidar2DDeviceBase.h.

◆ m_mutex

std::mutex yarp::dev::Lidar2DDeviceBase::m_mutex

protected

Definition at line 36 of file Lidar2DDeviceBase.h.

◆ m_range_skip_vector

std::vector<Range_t> yarp::dev::Lidar2DDeviceBase::m_range_skip_vector

protected

Definition at line 51 of file Lidar2DDeviceBase.h.

◆ m_resolution

double yarp::dev::Lidar2DDeviceBase::m_resolution

protected

Definition at line 47 of file Lidar2DDeviceBase.h.

◆ m_scan_rate

double yarp::dev::Lidar2DDeviceBase::m_scan_rate

protected

Definition at line 41 of file Lidar2DDeviceBase.h.

◆ m_sensorsNum

size_t yarp::dev::Lidar2DDeviceBase::m_sensorsNum

protected

Definition at line 42 of file Lidar2DDeviceBase.h.

◆ m_timestamp

yarp::os::Stamp yarp::dev::Lidar2DDeviceBase::m_timestamp

protected

Definition at line 34 of file Lidar2DDeviceBase.h.

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

src/libYARP_dev/src/yarp/dev/Lidar2DDeviceBase.h
src/libYARP_dev/src/yarp/dev/Lidar2DDeviceBase.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Lidar2DDeviceBase()

Member Function Documentation

◆ acquireDataFromHW()

◆ applyLimitsOnLaserData()

◆ getDeviceInfo()

◆ getDeviceStatus()

◆ getDistanceRange()

◆ getHorizontalResolution()

◆ getLaserMeasurement()

◆ getRawData()

◆ getScanLimits()

◆ getScanRate()

◆ parseConfiguration()

◆ updateLidarData()

◆ updateTimestamp()

Member Data Documentation

◆ m_clip_max_enable

◆ m_clip_min_enable

◆ m_device_status

◆ m_do_not_clip_and_allow_infinity_enable

◆ m_info

◆ m_laser_data

◆ m_max_angle

◆ m_max_distance

◆ m_min_angle

◆ m_min_distance

◆ m_mutex

◆ m_range_skip_vector

◆ m_resolution

◆ m_scan_rate

◆ m_sensorsNum

◆ m_timestamp