Rangefinder2DClient: The client side of any ILaserRangefinder2D capable device. More...

#include <Rangefinder2DClient/Rangefinder2DClient.h>

Inheritance diagram for Rangefinder2DClient:

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

bool	close () override
	Close the DeviceDriver. More...

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

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

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

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

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

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

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

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

bool	setHorizontalResolution (double step) override
	get the angular step between two measurments (if available) More...

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

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

bool	getDeviceInfo (std::string &device_info) override
	get the device hardware charactestics More...

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

	~DeviceDriver () override

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. More...

bool	close () override
	Close the DeviceDriver. More...

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

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	open (Searchable &config)
	Initialize the object. More...

virtual bool	close ()
	Shut the object down. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

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

virtual bool	getLaserMeasurement (std::vector< LaserMeasurementData > &data, double *timestamp=nullptr)=0
	Get the device measurements. More...

virtual bool	getRawData (yarp::sig::Vector &data, double *timestamp=nullptr)=0
	Get the device measurements. More...

virtual bool	getDeviceStatus (Device_status &status)=0
	get the device status More...

virtual bool	getDistanceRange (double &min, double &max)=0
	get the device detection range More...

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

virtual bool	getScanLimits (double &min, double &max)=0
	get the scan angular range. More...

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

virtual bool	getHorizontalResolution (double &step)=0
	get the angular step between two measurements. More...

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

virtual bool	getScanRate (double &rate)=0
	get the scan rate (scans per seconds) More...

virtual bool	setScanRate (double rate)=0
	set the scan rate (scans per seconds) More...

virtual bool	getDeviceInfo (std::string &device_info)=0
	get the device hardware characteristics More...

Protected Attributes
Rangefinder2DInputPortProcessor	inputPort

yarp::os::Port	rpcPort

std::string	local

std::string	remote

std::string	m_carrier

yarp::os::Stamp	lastTs

std::string	deviceId

double	scan_angle_min

double	scan_angle_max

double	device_position_x

double	device_position_y

double	device_position_theta

std::string	laser_frame_name

std::string	robot_frame_name

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 }

Detailed Description

Rangefinder2DClient: The client side of any ILaserRangefinder2D capable device.

Still single thread! concurrent access is unsafe.

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
local	-	string	-	-	Yes	Full port name opened by the Rangefinder2DClient device.
remote	-	string	-	-	Yes	Full port name of the port opened on the server side, to which the Rangefinder2DClient connects to.
carrier	-	string	-	tcp	No	The carier used for the connection with the server.

Definition at line 76 of file Rangefinder2DClient.h.

Member Function Documentation

◆ close()

bool Rangefinder2DClient::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 278 of file Rangefinder2DClient.cpp.

◆ getDeviceInfo()

bool Rangefinder2DClient::getDeviceInfo ( std::string & device_info )

overridevirtual

get the device hardware charactestics

Parameters

device_info string containing the device infos

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 443 of file Rangefinder2DClient.cpp.

◆ getDeviceStatus()

bool Rangefinder2DClient::getDeviceStatus ( Device_status & status )

overridevirtual

get the device status

Parameters

status the device status

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 437 of file Rangefinder2DClient.cpp.

◆ getDistanceRange()

bool Rangefinder2DClient::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 324 of file Rangefinder2DClient.cpp.

◆ getHorizontalResolution()

bool Rangefinder2DClient::getHorizontalResolution ( double & step )

overridevirtual

get the angular step between two measurments.

Parameters

step	the angular step between two measurments

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 385 of file Rangefinder2DClient.cpp.

◆ getLaserMeasurement()

bool Rangefinder2DClient::getLaserMeasurement	(	std::vector< yarp::dev::LaserMeasurementData > &	data,
		double *	timestamp = `nullptr`
	)

overridevirtual

Get the device measurements.

Parameters

data	a vector containing the measurement data, expressed in cartesian/polar format

Returns: true/false..

Implements yarp::dev::IRangefinder2D.

Definition at line 299 of file Rangefinder2DClient.cpp.

◆ getRawData()

bool Rangefinder2DClient::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.

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 285 of file Rangefinder2DClient.cpp.

◆ getScanLimits()

bool Rangefinder2DClient::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 357 of file Rangefinder2DClient.cpp.

◆ getScanRate()

bool Rangefinder2DClient::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 411 of file Rangefinder2DClient.cpp.

◆ open()

bool Rangefinder2DClient::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 154 of file Rangefinder2DClient.cpp.

◆ setDistanceRange()

bool Rangefinder2DClient::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 340 of file Rangefinder2DClient.cpp.

◆ setHorizontalResolution()

bool Rangefinder2DClient::setHorizontalResolution ( double step )

overridevirtual

get the angular step between two measurments (if available)

Parameters

step	the angular step between two measurments

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 400 of file Rangefinder2DClient.cpp.

◆ setScanLimits()

bool Rangefinder2DClient::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 373 of file Rangefinder2DClient.cpp.

◆ setScanRate()

bool Rangefinder2DClient::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 426 of file Rangefinder2DClient.cpp.

Member Data Documentation

◆ device_position_theta

double Rangefinder2DClient::device_position_theta

protected

Definition at line 93 of file Rangefinder2DClient.h.

◆ device_position_x

double Rangefinder2DClient::device_position_x

protected

Definition at line 91 of file Rangefinder2DClient.h.

◆ device_position_y

double Rangefinder2DClient::device_position_y

protected

Definition at line 92 of file Rangefinder2DClient.h.

◆ deviceId

std::string Rangefinder2DClient::deviceId

protected

Definition at line 87 of file Rangefinder2DClient.h.

◆ inputPort

Rangefinder2DInputPortProcessor Rangefinder2DClient::inputPort

protected

Definition at line 81 of file Rangefinder2DClient.h.

◆ laser_frame_name

std::string Rangefinder2DClient::laser_frame_name

protected

Definition at line 94 of file Rangefinder2DClient.h.

◆ lastTs

yarp::os::Stamp Rangefinder2DClient::lastTs

protected

Definition at line 86 of file Rangefinder2DClient.h.

◆ local

std::string Rangefinder2DClient::local

protected

Definition at line 83 of file Rangefinder2DClient.h.

◆ m_carrier

std::string Rangefinder2DClient::m_carrier

protected

Definition at line 85 of file Rangefinder2DClient.h.

◆ remote

std::string Rangefinder2DClient::remote

protected

Definition at line 84 of file Rangefinder2DClient.h.

◆ robot_frame_name

std::string Rangefinder2DClient::robot_frame_name

protected

Definition at line 95 of file Rangefinder2DClient.h.

◆ rpcPort

yarp::os::Port Rangefinder2DClient::rpcPort

protected

Definition at line 82 of file Rangefinder2DClient.h.

◆ scan_angle_max

double Rangefinder2DClient::scan_angle_max

protected

Definition at line 90 of file Rangefinder2DClient.h.

◆ scan_angle_min

double Rangefinder2DClient::scan_angle_min

protected

Definition at line 89 of file Rangefinder2DClient.h.

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

src/devices/Rangefinder2DClient/Rangefinder2DClient.h
src/devices/Rangefinder2DClient/Rangefinder2DClient.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ close()

◆ getDeviceInfo()

◆ getDeviceStatus()

◆ getDistanceRange()

◆ getHorizontalResolution()

◆ getLaserMeasurement()

◆ getRawData()

◆ getScanLimits()

◆ getScanRate()

◆ open()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

Member Data Documentation

◆ device_position_theta

◆ device_position_x

◆ device_position_y

◆ deviceId

◆ inputPort

◆ laser_frame_name

◆ lastTs

◆ local

◆ m_carrier

◆ remote

◆ robot_frame_name

◆ rpcPort

◆ scan_angle_max

◆ scan_angle_min