Main MRPT website > C++ reference
MRPT logo

C2DRangeFinderAbstract.h

Go to the documentation of this file.
00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef C2DRangeFinderAbstract_H
00029 #define C2DRangeFinderAbstract_H
00030 
00031 #include <mrpt/utils/CStream.h>
00032 #include <mrpt/synch.h>
00033 #include <mrpt/utils/CDebugOutputCapable.h>
00034 #include <mrpt/slam/CObservation2DRangeScan.h>
00035 #include <mrpt/utils/CConfigFileBase.h>
00036 
00037 #include <mrpt/hwdrivers/link_pragmas.h>
00038 #include <mrpt/hwdrivers/CGenericSensor.h>
00039 
00040 #include <mrpt/math/CPolygon.h>
00041 
00042 namespace mrpt
00043 {
00044         namespace hwdrivers
00045         {
00046                 using namespace mrpt::utils;
00047                 using namespace mrpt::slam;
00048 
00049                 /** This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finders).
00050                   *  Physical devices may be interfaced through a serial port, a USB connection,etc. but this class
00051                   *   abstract those details throught the "binding" of the specific scanner driver to a given I/O channel,
00052                   *   which must be set by calling "hwdrivers::C2DRangeFinderAbstract::bindIO". See also the derived classes.
00053                   *
00054                   *  There is support for "exclusion polygons", areas where points, if detected, should be marked as invalid.
00055                   *  Those areas are useful in cases where the scanner always detects part of the vehicle itself, and those
00056                   *   points want to be ignored (see C2DRangeFinderAbstract::loadExclusionAreas).
00057                   *
00058                   * \sa hwdrivers::CSerialPort
00059                   */
00060                 class HWDRIVERS_IMPEXP C2DRangeFinderAbstract : public mrpt::utils::CDebugOutputCapable, public mrpt::hwdrivers::CGenericSensor
00061                 {
00062                 private:
00063                         CObservation2DRangeScan m_lastObservation;
00064                         bool                                                    m_lastObservationIsNew;
00065                         bool                                                    m_hardwareError;
00066 
00067                         /** For being thread-safe.
00068                           */
00069                         synch::CCriticalSection m_csChangeStream,m_csLastObservation;
00070 
00071                         CObservation2DRangeScanPtr              m_nextObservation;              //!< A dynamic object used as buffer in doProcess
00072 
00073                         CObservation2DRangeScan::TListExclusionAreasWithRanges  m_lstExclusionPolys;    //!< A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".
00074                         std::vector<std::pair<double,double> >  m_lstExclusionAngles; //!< A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.
00075 
00076 
00077                 protected:
00078                         /** The I/O channel (will be NULL if not bound).
00079                           */
00080                         utils::CStream                                  *m_stream;
00081 
00082                         /** Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).
00083                           *  This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".
00084                           *   - exclusionZone%u_x
00085                           *   - exclusionZone%u_y
00086                           *   for %u=1,2,3,...
00087                           *   All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
00088                           *   - exclusionZone%u_z=[z_min z_max]
00089                           *       In that case, only the points within the 2D polygon AND the given range in Z will be ignored.
00090                           *
00091                           *  The number of zones is variable, but they must start at 1 and be consecutive.
00092                           * \sa filterByExclusionAreas
00093                           */
00094                         void loadExclusionAreas(
00095                                 const mrpt::utils::CConfigFileBase &configSource,
00096                                 const std::string         &iniSection );
00097 
00098                         /** Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.
00099                           * \sa loadExclusionAreas
00100                           */
00101                         void filterByExclusionAreas( CObservation2DRangeScan &obs) const;
00102 
00103                         /** Mark as invalid those ranges in a set of forbiden angle ranges.
00104                           * \sa loadExclusionAreas
00105                           */
00106                         void filterByExclusionAngles( CObservation2DRangeScan &obs) const;
00107 
00108                 public:
00109 
00110                         /** Default constructor
00111                           */
00112                         C2DRangeFinderAbstract();
00113 
00114                         /** Destructor
00115                           */
00116                         virtual ~C2DRangeFinderAbstract();
00117 
00118                         /** Binds the object to a given I/O channel.
00119                           *  The stream object must not be deleted before the destruction of this class.
00120                           * \sa hwdrivers::CSerialPort
00121                           */
00122                         void  bindIO( CStream   *streamIO );
00123 
00124                         /** Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).
00125                           */
00126                         void  getObservation(
00127                                 bool                                                    &outThereIsObservation,
00128                                 CObservation2DRangeScan &outObservation,
00129                                 bool                                                    &hardwareError );
00130 
00131                         /** Main method for a CGenericSensor
00132                           */
00133                         void doProcess();
00134 
00135                         /** Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
00136                           *  This method MUST BE CALLED in a timely fashion by the user to allow the proccessing of incoming data. It can be run in a different thread safely.
00137                           */
00138                         virtual void  doProcessSimple(
00139                                 bool                                                    &outThereIsObservation,
00140                                 CObservation2DRangeScan &outObservation,
00141                                 bool                                                    &hardwareError ) = 0;
00142 
00143                         /** Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.
00144                           * \return If everything works "true", or "false" if there is any error.
00145                           */
00146                         virtual bool  turnOn() = 0;
00147 
00148                         /** Disables the scanning mode (this can be used to turn the device in low energy mode, if available)
00149                           * \return If everything works "true", or "false" if there is any error.
00150                           */
00151                         virtual bool  turnOff() = 0;
00152 
00153 
00154                 };      // End of class
00155         } // End of namespace
00156 } // End of namespace
00157 
00158 
00159 #endif



Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN:exported at Tue Jan 25 21:56:31 UTC 2011