#include <mrpt/hwdrivers/CPtuHokuyo.h>
Classes | |
struct | my_pos |
Public Member Functions | |
CPtuHokuyo () | |
Default constructor. | |
~CPtuHokuyo () | |
Destructor, delete observations of the vector. | |
bool | init (const std::string &portPtu, const std::string &portHokuyo) |
Initialization of laser and ptu. | |
bool | scan (char &axis, const int &tWait, double &initial, double &final, const double &radPre, const int &mean, const bool &interlaced=false) |
Performs a complete scan. | |
bool | continuousScan (char &axis, const double &velocity, double &initial, double &final) |
Performs a continuous scan. | |
bool | showGraphic (mrpt::slam::CSimplePointsMap *theMap=0) |
Show a graphic with the points obtained from the scan or a map. | |
bool | saveMap2File (mrpt::slam::CSimplePointsMap &theMap, char *fname="Data.pts", const bool &colours=false) |
Save a simple points map into a simple file (if colours==true save points with a color). | |
bool | saveVObs2File (char *fname="Data.rawlog") |
Save vector of observations in a CFileOutputStream file. | |
bool | saveVObsPoints2File (char *fname="Data.pts", const bool &colours=false) |
Save vector points of observations into a simple file. | |
void | limit (mrpt::slam::CSimplePointsMap &theMap) |
Method for limit map points obtained from a scan. | |
void | setHigh (const double &newHigh) |
Set high between ptu tilt axis and hokuyo laser scan. | |
bool | obtainObs (mrpt::slam::CObservation2DRangeScan &obs) |
Obtain a observation from the laser. | |
Public Attributes | |
CHokuyoURG | laser |
CPtuBase * | ptu |
std::vector < mrpt::slam::CObservation2DRangeScan > | vObs |
double | high |
std::vector < mrpt::hwdrivers::CPtuHokuyo::my_pos > | v_my_pos |
Private Member Functions | |
double | saveObservation (const char &axis, const int &mean) |
Save a observation from the laser into a vector of observations, calculating sensor position. | |
bool | singleScan (const char &axis, const int &tWait, const int &movements, const double &radPre, const int &mean) |
Performs a simple scan. | |
int | minLengthVectors (mrpt::slam::CObservation2DRangeScan &obs, std::vector< mrpt::slam::CObservation2DRangeScan > &vObsAux) |
Calculate minimum lenght of scan vectors. | |
int | minLengthVectors (mrpt::slam::CObservation2DRangeScan &obs1, mrpt::slam::CObservation2DRangeScan &obs2, const int &mode) |
Calculate minimum lenght of 2 scan vectors. | |
void | loadObs2PointsMap (mrpt::slam::CSimplePointsMap &theMap) |
Load observations in a points map. | |
bool | limitScan (const char &axis, double &low, double &high, mrpt::slam::CSimplePointsMap &theMap) |
Limit the valid position of scan points. | |
void | refineVObs (const char &axis) |
Refine the observations obtains from a continuous scan. | |
void | calculateSensorPose (const char &axis, const double &pos, mrpt::slam::CObservation2DRangeScan &obs) |
Calculate the sensor pose depending teh axis of movements and the ptu position. |
Definition at line 58 of file CPtuHokuyo.h.
mrpt::hwdrivers::CPtuHokuyo::CPtuHokuyo | ( | ) | [inline] |
mrpt::hwdrivers::CPtuHokuyo::~CPtuHokuyo | ( | ) |
Destructor, delete observations of the vector.
void mrpt::hwdrivers::CPtuHokuyo::calculateSensorPose | ( | const char & | axis, | |
const double & | pos, | |||
mrpt::slam::CObservation2DRangeScan & | obs | |||
) | [private] |
Calculate the sensor pose depending teh axis of movements and the ptu position.
bool mrpt::hwdrivers::CPtuHokuyo::continuousScan | ( | char & | axis, | |
const double & | velocity, | |||
double & | initial, | |||
double & | final | |||
) |
Performs a continuous scan.
bool mrpt::hwdrivers::CPtuHokuyo::init | ( | const std::string & | portPtu, | |
const std::string & | portHokuyo | |||
) |
Initialization of laser and ptu.
void mrpt::hwdrivers::CPtuHokuyo::limit | ( | mrpt::slam::CSimplePointsMap & | theMap | ) |
Method for limit map points obtained from a scan.
bool mrpt::hwdrivers::CPtuHokuyo::limitScan | ( | const char & | axis, | |
double & | low, | |||
double & | high, | |||
mrpt::slam::CSimplePointsMap & | theMap | |||
) | [private] |
Limit the valid position of scan points.
void mrpt::hwdrivers::CPtuHokuyo::loadObs2PointsMap | ( | mrpt::slam::CSimplePointsMap & | theMap | ) | [private] |
Load observations in a points map.
int mrpt::hwdrivers::CPtuHokuyo::minLengthVectors | ( | mrpt::slam::CObservation2DRangeScan & | obs1, | |
mrpt::slam::CObservation2DRangeScan & | obs2, | |||
const int & | mode | |||
) | [private] |
Calculate minimum lenght of 2 scan vectors.
int mrpt::hwdrivers::CPtuHokuyo::minLengthVectors | ( | mrpt::slam::CObservation2DRangeScan & | obs, | |
std::vector< mrpt::slam::CObservation2DRangeScan > & | vObsAux | |||
) | [private] |
Calculate minimum lenght of scan vectors.
bool mrpt::hwdrivers::CPtuHokuyo::obtainObs | ( | mrpt::slam::CObservation2DRangeScan & | obs | ) |
Obtain a observation from the laser.
void mrpt::hwdrivers::CPtuHokuyo::refineVObs | ( | const char & | axis | ) | [private] |
Refine the observations obtains from a continuous scan.
bool mrpt::hwdrivers::CPtuHokuyo::saveMap2File | ( | mrpt::slam::CSimplePointsMap & | theMap, | |
char * | fname = "Data.pts" , |
|||
const bool & | colours = false | |||
) |
Save a simple points map into a simple file (if colours==true save points with a color).
double mrpt::hwdrivers::CPtuHokuyo::saveObservation | ( | const char & | axis, | |
const int & | mean | |||
) | [private] |
Save a observation from the laser into a vector of observations, calculating sensor position.
bool mrpt::hwdrivers::CPtuHokuyo::saveVObs2File | ( | char * | fname = "Data.rawlog" |
) |
Save vector of observations in a CFileOutputStream file.
bool mrpt::hwdrivers::CPtuHokuyo::saveVObsPoints2File | ( | char * | fname = "Data.pts" , |
|
const bool & | colours = false | |||
) |
Save vector points of observations into a simple file.
bool mrpt::hwdrivers::CPtuHokuyo::scan | ( | char & | axis, | |
const int & | tWait, | |||
double & | initial, | |||
double & | final, | |||
const double & | radPre, | |||
const int & | mean, | |||
const bool & | interlaced = false | |||
) |
Performs a complete scan.
<axis> | Pan or Till | |
<tWait> | Wait time betwen commands | |
<initial> | initial position | |
<final> | final position | |
<radPre> | radians precision for the scan | |
<interlaced> | if interlaced==true performs a double sweep |
void mrpt::hwdrivers::CPtuHokuyo::setHigh | ( | const double & | newHigh | ) | [inline] |
bool mrpt::hwdrivers::CPtuHokuyo::showGraphic | ( | mrpt::slam::CSimplePointsMap * | theMap = 0 |
) |
Show a graphic with the points obtained from the scan or a map.
bool mrpt::hwdrivers::CPtuHokuyo::singleScan | ( | const char & | axis, | |
const int & | tWait, | |||
const int & | movements, | |||
const double & | radPre, | |||
const int & | mean | |||
) | [private] |
Performs a simple scan.
<axis> | Pan or Till | |
<tWait> | Wait time betwen commands | |
<movements> | number total of movements | |
<radPre> | radians precision for the scan | |
<vObs> | reference to obsevations vector for save the observation |
Definition at line 67 of file CPtuHokuyo.h.
Definition at line 63 of file CPtuHokuyo.h.
Definition at line 64 of file CPtuHokuyo.h.
Definition at line 75 of file CPtuHokuyo.h.
Definition at line 65 of file CPtuHokuyo.h.
Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN:exported at Mon Jan 12 13:00:16 UTC 2009 |