Aria
2.8.0
|
Compatability class used to access SICK LMS-200 laser rangefinder device in versions of ARIA prior to 2.7.0; used alone or with ArSimpleConnector (also deprecated). More...
#include <ArSick.h>
Inherits ArLMS2xx.
Public Types | |
enum | BaudRate { BAUD9600, BAUD19200, BAUD38400, BAUD_INVALID } |
enum | Bits { BITS_1REFLECTOR, BITS_2REFLECTOR, BITS_3REFLECTOR, BITS_INVALID } |
enum | Degrees { DEGREES180, DEGREES100, DEGREES_INVALID } |
enum | Increment { INCREMENT_ONE, INCREMENT_HALF, INCREMENT_INVALID } |
enum | Units { UNITS_1MM, UNITS_1CM, UNITS_10CM, UNITS_INVALID } |
Public Member Functions | |
void | addConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a connect callback. | |
void | addDataCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a callback that is called whenever a laser packet is processed. | |
void | addDisconnectNormallyCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a callback for when disconnect is called while connected. | |
void | addDisconnectOnErrorCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a callback for when disconnection happens because of an error. | |
void | addFailedConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a callback for when a connection to the robot is failed. | |
ArSick (size_t currentBufferSize=361, size_t cumulativeBufferSize=0, const char *name="laser", bool addAriaExitCB=true, bool isSecondLaser=false) | |
Constructor. | |
void | configure (bool useSim=false, bool powerControl=true, bool laserFlipped=false, BaudRate baud=BAUD38400, Degrees deg=DEGREES180, Increment incr=INCREMENT_ONE) |
Use this to manually configure the laser before connecting to it. More... | |
void | configureShort (bool useSim=false, BaudRate baud=BAUD38400, Degrees deg=DEGREES180, Increment incr=INCREMENT_ONE) |
Shorter configure for the laser (settings are overridden by the .p file) More... | |
Bits | getBits (void) |
Gets the Bits the laser is using. | |
int | getConnectionTimeoutTime (void) |
Gets the time without a response until connection assumed lost. | |
Degrees | getDegrees (void) |
Gets the degrees the laser is scanning. | |
int | getFilterCleanCumulativeInterval (void) |
You should use getPlanarCumulativeCleanInterval for this now. More... | |
double | getFilterCumulativeCleanDist (void) |
You should use getCumulativeCleanDist for this now. More... | |
double | getFilterCumulativeInsertMaxDist (void) |
You should use getMaxInsertDistCumulative for this now. More... | |
int | getFilterCumulativeMaxAge (void) |
you should use getMaxSecondsToKeepCumulative instead, (replaces this) More... | |
double | getFilterCumulativeMaxDist (void) |
You should see getMaxDistToKeepCumulative (it replaces this) More... | |
double | getFilterCumulativeNearDist (void) |
You should use getMinDistBetweenCumulative for this now. More... | |
double | getFilterNearDist (void) |
You should use getMinDistBetweenCurrent for this now. More... | |
Increment | getIncrement (void) |
Gets the amount each scan increments. | |
unsigned int | getMinRange (void) |
Used to set the min range, this is no longer used because it doesn't actually solve anything (because beams that see near things and far things average) More... | |
int | getSickPacCount (void) |
Gets the number of laser packets received in the last second. | |
Units | getUnits (void) |
Gets the Units the laser is using. | |
bool | isControllingPower (void) |
Gets whether the computer is controling laser power or not. | |
bool | isLaserFlipped (void) |
Gets whether the laser is flipped over or not. | |
bool | isUsingSim (void) |
void | remConnectCB (ArFunctor *functor) |
Adds a disconnect callback. | |
void | remDataCB (ArFunctor *functor) |
Removes a callback that is called whenever a laser packet is processed. | |
void | remDisconnectNormallyCB (ArFunctor *functor) |
Removes a callback for when disconnect is called while connected. | |
void | remDisconnectOnErrorCB (ArFunctor *functor) |
Removes a callback for when disconnection happens because of an error. | |
void | remFailedConnectCB (ArFunctor *functor) |
Removes a callback for when a connection to the robot is failed. | |
bool | runOnRobot (void) |
Runs the laser off of the robot. | |
void | setConnectionTimeoutTime (int secs) |
Sets the time without a response until connection assumed lost. | |
void | setFilterCleanCumulativeInterval (int milliSeconds) |
You should use setCumulativeCleanInterval for this now. More... | |
void | setFilterCumulativeCleanDist (double dist) |
You should use setCumulativeCleanDist for this now. More... | |
void | setFilterCumulativeInsertMaxDist (double dist) |
You should use setMaxInsertDistCumulative for this now. More... | |
void | setFilterCumulativeMaxAge (int seconds) |
you should use setMaxSecondsToKeepCumulative instead, (replaces this) More... | |
void | setFilterCumulativeMaxDist (double dist) |
You should see setMaxDistToKeepCumulative (it replaces this) More... | |
void | setFilterCumulativeNearDist (double dist) |
You should use setMinDistBetweenCumulative for this now. More... | |
void | setFilterNearDist (double dist) |
You should use setMinDistBetweenCurrent for this now. More... | |
void | setIsControllingPower (bool controlPower) |
Sets whether the computer is controling laser power or not. | |
void | setIsLaserFlipped (bool laserFlipped) |
Sets whether the laser is flipped over or not. | |
void | setIsUsingSim (bool usingSim) |
void | setMinRange (unsigned int minRange) |
Used to get the min range, this is no longer used because it doesn't actually solve anything (because beams that see near things and far things average) More... | |
void | setRangeInformation (Bits bits=BITS_1REFLECTOR, Units units=UNITS_1MM) |
Sets the ranging/reflector information. More... | |
bool | tryingToConnect (void) |
Sees if this is trying to connect to the laser at the moment (note no other range devices work like this so you probably shouldn't use this) | |
virtual | ~ArSick () |
Destructor. | |
![]() | |
ArLMS2xx (int laserNumber, const char *name="lms2xx", bool appendLaserNumberToName=true) | |
Constructor. | |
bool | asyncConnect (void) |
Connect to the laser asyncronously. More... | |
virtual bool | blockingConnect (void) |
Connect to the laser while blocking. More... | |
virtual bool | disconnect (void) |
Disconnect from the laser. More... | |
virtual bool | isConnected (void) |
Sees if this is connected to the laser. | |
virtual bool | isTryingToConnect (void) |
virtual void * | runThread (void *arg) |
The internal function used by the ArRangeDeviceThreaded. | |
virtual void | setDeviceConnection (ArDeviceConnection *conn) |
Sets the device connection. | |
virtual void | setRobot (ArRobot *robot) |
virtual | ~ArLMS2xx () |
Destructor. | |
![]() | |
void | addConnectCB (ArFunctor *functor, int position=50) |
Adds a connect callback. | |
void | addDisconnectNormallyCB (ArFunctor *functor, int position=50) |
Adds a callback for when disconnect is called while connected. | |
void | addDisconnectOnErrorCB (ArFunctor *functor, int position=50) |
Adds a callback for when disconnection happens because of an error. | |
void | addFailedConnectCB (ArFunctor *functor, int position=50) |
Adds a callback for when a connection to the robot is failed. | |
void | addIgnoreReading (double ignoreReading) |
Adds a degree at which to ignore readings (within 1 degree of nearest integer) | |
bool | addIgnoreReadings (const char *ignoreReadings) |
Adds a series of degree at which to ignore readings (within 1 degree of nearest integer) | |
void | addReadingCB (ArFunctor *functor, int position=50) |
Adds a callback that is called whenever a laser reading is processed. | |
virtual void | applyTransform (ArTransform trans, bool doCumulative=true) |
Applies a transform to the buffers. More... | |
ArLaser (int laserNumber, const char *name, unsigned int absoluteMaxRange, bool locationDependent=false, bool appendLaserNumberToName=true) | |
Constructor. | |
bool | canChooseAutoBaud (void) |
Gets if you can choose autoBaud for the laser. More... | |
bool | canChooseDegrees (void) |
Gets if you can choose the number of degrees. More... | |
bool | canChooseIncrement (void) |
Gets if you can choose an increment. More... | |
bool | canChooseReflectorBits (void) |
Gets if you can choose reflectorBits for the laser. More... | |
bool | canChooseStartingBaud (void) |
Gets if you can choose startingBaud for the laser. More... | |
bool | canChooseUnits (void) |
Gets if you can choose units for the laser. More... | |
bool | canSetDegrees (void) |
Sees if this class can set the degrees with doubles or not. More... | |
bool | canSetIncrement (void) |
Gets if you can set an increment. More... | |
bool | canSetPowerControlled (void) |
Gets if you can set powerControlled for the laser. More... | |
bool | chooseAutoBaud (const char *reflectorBits) |
Sets the reflectorBits to one of the choices from getAutoBaudChoices. More... | |
bool | chooseDegrees (const char *range) |
Sets the range to one of the choices from getDegreesChoices. More... | |
bool | chooseIncrement (const char *increment) |
Sets the increment to one of the choices from getIncrementChoices. More... | |
bool | chooseReflectorBits (const char *reflectorBits) |
Sets the reflectorBits to one of the choices from getReflectorBitsChoices. More... | |
bool | chooseStartingBaud (const char *reflectorBits) |
Sets the reflectorBits to one of the choices from getStartingBaudChoices. More... | |
bool | chooseUnits (const char *units) |
Sets the units to one of the choices from getUnitsChoices. More... | |
void | clearIgnoreReadings (void) |
Clears the degrees we ignore readings at. | |
void | copyReadingCount (const ArLaser *laser) |
Copies the reading count stuff from another laser (for the laser filter) | |
unsigned int | getAbsoluteMaxRange (void) |
Gets the absolute maximum range on the sensor. | |
const char * | getAutoBaudChoice (void) |
Gets the reflectorBits that was chosen. More... | |
std::list< std::string > | getAutoBaudChoices (void) |
Gets the list of reflectorBits choices. More... | |
const char * | getAutoBaudChoicesString (void) |
Gets a string with the list of reflectorBits choices seperated by |s. More... | |
virtual double | getConnectionTimeoutSeconds (void) |
Gets the number of seconds without a response until connection assumed lost. More... | |
double | getCumulativeCleanDist (void) |
Cumulative readings that are this close to current beams are discarded. | |
int | getCumulativeCleanInterval (void) |
Cumulative readings are cleaned every this number of milliseconds. | |
int | getCumulativeCleanOffset (void) |
Gets the offset for cumulative cleaning. | |
const char * | getDefaultPortType (void) |
Gets the default port type for the laser. | |
int | getDefaultTcpPort (void) |
Gets the default TCP port for the laser. | |
const char * | getDegreesChoice (void) |
Gets the range that was chosen. More... | |
double | getDegreesChoiceDouble (void) |
Gets the range that was chosen as a double. More... | |
std::list< std::string > | getDegreesChoices (void) |
Gets the list of range choices. More... | |
std::map< std::string, double > | getDegreesChoicesMap (void) |
Gets the map of degrees choices to what they mean. More... | |
const char * | getDegreesChoicesString (void) |
Gets a string with the list of degrees choices seperated by |s. More... | |
virtual ArDeviceConnection * | getDeviceConnection (void) |
Gets the device connection. | |
double | getEndDegrees (void) |
Gets the end angle. More... | |
double | getEndDegreesMax (void) |
Gets the maximum value for the end angle. More... | |
double | getEndDegreesMin (void) |
Gets the minimum value for the end angle. More... | |
bool | getFlipped (void) |
Gets if the laser is flipped or not. | |
const std::set< int > * | getIgnoreReadings (void) const |
Gets the list of readings that we ignore. | |
double | getIncrement (void) |
Gets the increment. More... | |
const char * | getIncrementChoice (void) |
Gets the increment that was chosen. More... | |
double | getIncrementChoiceDouble (void) |
Gets the increment that was chosen as a double. More... | |
std::list< std::string > | getIncrementChoices (void) |
Gets the list of increment choices. More... | |
std::map< std::string, double > | getIncrementChoicesMap (void) |
Gets the map of increment choices to what they mean. More... | |
const char * | getIncrementChoicesString (void) |
Gets a string with the list of increment choices seperated by |s. More... | |
double | getIncrementMax (void) |
Gets the increment maximum. More... | |
double | getIncrementMin (void) |
Gets the increment minimum. More... | |
ArLog::LogLevel | getInfoLogLevel (void) |
Gets the log level that informational things are logged at. | |
int | getLaserNumber (void) |
Gets the number of the laser this is. | |
ArTime | getLastReadingTime (void) |
Gets the time data was last receieved. | |
bool | getPowerControlled (void) |
Gets if the power is controlled. More... | |
int | getReadingCount (void) |
Gets the number of laser readings received in the last second. | |
const char * | getReflectorBitsChoice (void) |
Gets the reflectorBits that was chosen. More... | |
std::list< std::string > | getReflectorBitsChoices (void) |
Gets the list of reflectorBits choices. More... | |
const char * | getReflectorBitsChoicesString (void) |
Gets a string with the list of reflectorBits choices seperated by |s. More... | |
ArPose | getSensorPosition (void) |
Gets the position of the sensor on the robot. | |
double | getSensorPositionTh (void) |
Gets the heading of the sensor on the robot. | |
double | getSensorPositionX (void) |
Gets the X position of the sensor on the robot. | |
double | getSensorPositionY (void) |
Gets the Y position of the sensor on the robot. | |
double | getSensorPositionZ (void) |
Gets the Z position of the sensor on the robot (0 is unknown) | |
double | getStartDegrees (void) |
Gets the start angle. More... | |
double | getStartDegreesMax (void) |
Gets the maximum value for the start angle. More... | |
double | getStartDegreesMin (void) |
Gets the minimum value for the start angle. More... | |
const char * | getStartingBaudChoice (void) |
Gets the reflectorBits that was chosen. More... | |
std::list< std::string > | getStartingBaudChoices (void) |
Gets the list of reflectorBits choices. More... | |
const char * | getStartingBaudChoicesString (void) |
Gets a string with the list of reflectorBits choices seperated by |s. More... | |
const char * | getUnitsChoice (void) |
Gets the units that was chosen. More... | |
std::list< std::string > | getUnitsChoices (void) |
Gets the list of units choices. More... | |
const char * | getUnitsChoicesString (void) |
Gets a string with the list of units choices seperated by |s. More... | |
bool | hasSensorPosition (void) |
Gets if the sensor pose has been set. | |
void | remConnectCB (ArFunctor *functor) |
Adds a disconnect callback. | |
void | remDisconnectNormallyCB (ArFunctor *functor) |
Removes a callback for when disconnect is called while connected. | |
void | remDisconnectOnErrorCB (ArFunctor *functor) |
Removes a callback for when disconnection happens because of an error. | |
void | remFailedConnectCB (ArFunctor *functor) |
Removes a callback for when a connection to the robot is failed. | |
void | remReadingCB (ArFunctor *functor) |
Removes a callback that is called whenever a laser reading is processed. | |
void | resetLastCumulativeCleanTime (void) |
Resets when the cumulative cleaning happened (so offset can help) | |
virtual void | setConnectionTimeoutSeconds (double seconds) |
Sets the numter of seconds without a response until connection assumed lost. More... | |
virtual void | setCumulativeBufferSize (size_t size) |
override the default to keep track of its been set or not | |
void | setCumulativeCleanDist (double dist) |
Cumulative readings that are this close to current beams are discarded. | |
void | setCumulativeCleanInterval (int milliSeconds) |
Cumulative readings are cleaned every this number of milliseconds. | |
void | setCumulativeCleanOffset (int milliSeconds) |
Offset for cumulative cleaning. | |
bool | setEndDegrees (double endDegrees) |
Sets the end angle, it must be between getEndDegreesMin and getEndDegreesMax. More... | |
bool | setFlipped (bool flipped) |
Sets if the laser is flipped or not. | |
bool | setIncrement (double increment) |
Sets the increment. More... | |
void | setInfoLogLevel (ArLog::LogLevel infoLogLevel) |
Sets the log level that informational things are logged at. | |
virtual void | setMaxRange (unsigned int maxRange) |
override the default to bound the maxrange by the absolute max range | |
bool | setPowerControlled (bool powerControlled) |
Sets if the power is controlled. More... | |
void | setSensorPosition (double x, double y, double th, double z=0) |
Sets the position of the sensor on the robot. | |
void | setSensorPosition (ArPose pose, double z=0) |
Sets the position of the sensor on the robot. | |
bool | setStartDegrees (double startDegrees) |
Sets the start angle, it must be between getStartDegreesMin and getStartDegreesMax. More... | |
virtual | ~ArLaser () |
Destructor. | |
![]() | |
ArRangeDeviceThreaded (size_t currentBufferSize, size_t cumulativeBufferSize, const char *name, unsigned int maxRange, int maxSecondsTokeepCurrent=0, int maxSecondsToKeepCumulative=0, double maxDistToKeepCumulative=0, bool locationDependent=false) | |
Constructor. | |
virtual bool | getRunning (void) |
Get the running status of the thread. | |
virtual bool | getRunningWithLock (void) |
Get the running status of the thread, locking around the variable. | |
virtual int | lockDevice (void) |
virtual void | run (void) |
Run in this thread. | |
virtual void | runAsync (void) |
Run in its own thread. | |
virtual void | stopRunning (void) |
Stop the thread. | |
virtual int | tryLockDevice (void) |
virtual int | unlockDevice (void) |
virtual | ~ArRangeDeviceThreaded () |
Destructor. | |
![]() | |
virtual void | addReading (double x, double y, bool *wasAdded=NULL) |
Adds a reading to the buffer. | |
ArRangeDevice (size_t currentBufferSize, size_t cumulativeBufferSize, const char *name, unsigned int maxRange, int maxSecondsToKeepCurrent=0, int maxSecondsToKeepCumulative=0, double maxDistToKeepCumulative=0, bool locationDependent=false) | |
Constructor. More... | |
virtual void | clearCumulativeOlderThan (int milliSeconds) |
Clears all the cumulative readings older than this number of milliseconds. | |
virtual void | clearCumulativeOlderThanSeconds (int seconds) |
Clears all the cumulative readings older than this number of seconds. | |
virtual void | clearCumulativeReadings (void) |
Clears all the cumulative readings. | |
virtual void | clearCurrentReadings (void) |
Clears all the current readings. | |
virtual double | cumulativeReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const |
Gets the closest current reading from the given box region. More... | |
virtual double | cumulativeReadingPolar (double startAngle, double endAngle, double *angle=NULL) const |
Gets the closest cumulative reading in the given polar region. More... | |
virtual double | currentReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const |
Gets the closest current reading from the given box region. More... | |
virtual double | currentReadingPolar (double startAngle, double endAngle, double *angle=NULL) const |
Gets the closest current reading in the given polar region. More... | |
void | filterCallback (void) |
Internal function to filter the readings based on age and distance. | |
virtual const std::list < ArSensorReading * > * | getAdjustedRawReadings (void) const |
Gets the raw unfiltered readings from the device (but pose takens are corrected) More... | |
virtual std::vector < ArSensorReading > * | getAdjustedRawReadingsAsVector (void) |
Gets the raw adjusted readings from the device into a vector. More... | |
virtual const std::list < ArPoseWithTime * > * | getCumulativeBuffer (void) const |
Gets the current buffer of readings. More... | |
virtual std::list < ArPoseWithTime * > * | getCumulativeBuffer (void) |
Gets the current buffer of readings. | |
virtual std::vector < ArPoseWithTime > * | getCumulativeBufferAsVector (void) |
Gets the cumulative buffer of readings as a vector. More... | |
virtual size_t | getCumulativeBufferSize (void) const |
Sets the maximum size of the buffer for cumulative readings. | |
virtual ArDrawingData * | getCumulativeDrawingData (void) |
Gets data used for visualizing the cumulative buffer (see ArNetworking) | |
virtual const ArRangeBuffer * | getCumulativeRangeBuffer (void) const |
Gets the cumulative range buffer. More... | |
virtual ArRangeBuffer * | getCumulativeRangeBuffer (void) |
Gets the cumulative range buffer. | |
virtual const std::list < ArPoseWithTime * > * | getCurrentBuffer (void) const |
Gets the current buffer of readings. More... | |
virtual std::list < ArPoseWithTime * > * | getCurrentBuffer (void) |
Gets the current buffer of readings. | |
virtual std::vector < ArPoseWithTime > * | getCurrentBufferAsVector (void) |
Gets the current buffer of readings as a vector. More... | |
virtual size_t | getCurrentBufferSize (void) const |
Gets the maximum size of the buffer for current readings. | |
virtual ArDrawingData * | getCurrentDrawingData (void) |
Gets data used for visualizing the current buffer (see ArNetworking) | |
virtual const ArRangeBuffer * | getCurrentRangeBuffer (void) const |
Gets the current range buffer. More... | |
virtual ArRangeBuffer * | getCurrentRangeBuffer (void) |
Gets the current range buffer. | |
double | getMaxDistToKeepCumulative (void) |
sets the maximum distance cumulative readings can be from current pose More... | |
double | getMaxInsertDistCumulative (void) |
Gets the maximum distance a cumulative reading can be from the robot and still be inserted. More... | |
virtual unsigned int | getMaxRange (void) const |
Gets the maximum range for this device. | |
int | getMaxSecondsToKeepCumulative (void) |
gets the maximum seconds to keep current readings around More... | |
int | getMaxSecondsToKeepCurrent (void) |
gets the maximum seconds to keep current readings around More... | |
double | getMinDistBetweenCumulative (void) |
Gets the minimum distance between cumulative readings. More... | |
double | getMinDistBetweenCurrent (void) |
Gets the minimum distance between current readings. More... | |
virtual const char * | getName (void) const |
Gets the name of the device. | |
virtual const std::list < ArSensorReading * > * | getRawReadings (void) const |
Gets the raw unfiltered readings from the device. More... | |
virtual std::vector < ArSensorReading > * | getRawReadingsAsVector (void) |
Gets the raw unfiltered readings from the device into a vector. More... | |
virtual ArRobot * | getRobot (void) |
Gets the robot this device is attached to. | |
bool | isLocationDependent (void) |
Gets if this device is location dependent or not. | |
virtual void | setCumulativeDrawingData (ArDrawingData *data, bool takeOwnershipOfData) |
Sets data for visualizing the cumulative buffer (and if we own it) | |
virtual void | setCurrentBufferSize (size_t size) |
Sets the maximum size of the buffer for current readings. More... | |
virtual void | setCurrentDrawingData (ArDrawingData *data, bool takeOwnershipOfData) |
Sets data for visualizing the current buffer (and if we own it) | |
void | setMaxDistToKeepCumulative (double maxDistToKeepCumulative) |
sets the maximum distance cumulative readings can be from current pose More... | |
void | setMaxInsertDistCumulative (double maxInsertDistCumulative) |
Sets the maximum distance a cumulative reading can be from the robot and still be inserted. More... | |
void | setMaxSecondsToKeepCumulative (int maxSecondsToKeepCumulative) |
gets the maximum seconds to keep cumulative readings around More... | |
void | setMaxSecondsToKeepCurrent (int maxSecondsToKeepCurrent) |
Sets the maximum seconds to keep current readings around. More... | |
void | setMinDistBetweenCumulative (double minDistBetweenCumulative) |
Sets the minimum distance between cumulative readings. More... | |
void | setMinDistBetweenCurrent (double minDistBetweenCurrent) |
Sets the minimum distance between current readings. More... | |
virtual | ~ArRangeDevice () |
Destructor. | |
Additional Inherited Members | |
![]() | |
static void | useSimpleNamingForAllLasers (void) |
Makes it so we'll apply simple naming to all the lasers. | |
![]() | |
enum | State { STATE_NONE, STATE_INIT, STATE_WAIT_FOR_POWER_ON, STATE_CHANGE_BAUD, STATE_CONFIGURE, STATE_WAIT_FOR_CONFIGURE_ACK, STATE_INSTALL_MODE, STATE_WAIT_FOR_INSTALL_MODE_ACK, STATE_SET_MODE, STATE_WAIT_FOR_SET_MODE_ACK, STATE_START_READINGS, STATE_WAIT_FOR_START_ACK, STATE_CONNECTED } |
![]() | |
void | dropConnection (void) |
void | failedConnect (void) |
bool | finishParams (void) |
Finishes getting the unset parameters from the robot then setting some internal variables that need it. | |
int | internalConnectHandler (void) |
An internal function, single loop event to connect to laser. | |
bool | internalConnectSim (void) |
Sends the commands to the sim to start up the connection. More... | |
bool | internalRunOnRobot (void) |
internal function to runOnRobot so that ArSick can do that while this class won't More... | |
virtual bool | laserCheckParams (void) |
virtual void | laserSetName (const char *name) |
void | madeConnection (void) |
void | processPacket (ArLMS2xxPacket *packet, ArPose pose, ArPose encoderPose, unsigned int counter, bool deinterlace, ArPose deinterlaceDelta) |
void | runOnce (bool lockRobot) |
void | sensorInterpCallback (void) |
bool | sickGetIsUsingSim (void) |
Internal function that gets whether the laser is simulated or not (just for the old ArSick) | |
void | sickSetIsUsingSim (bool usingSim) |
Internal function that sets whether the laser is simulated or not (just for the old ArSick) | |
bool | simPacketHandler (ArRobotPacket *packet) |
void | switchState (State state) |
Internal function for switching states. | |
![]() | |
ArRetFunctorC< bool, ArLMS2xx > | myAriaExitCB |
std::list< ArSensorReading * > * | myAssembleReadings |
std::list< ArSensorReading * > * | myCurrentReadings |
double | myIncrementAmount |
bool | myInterlaced |
bool | myInterpolation |
std::list< ArSensorReading * > ::iterator | myIter |
ArLMS2xxPacketReceiver | myLMS2xxPacketReceiver |
int | myNumReflectorBits |
double | myOffsetAmount |
ArLMS2xxPacket | myPacket |
std::list< ArLMS2xxPacket * > | myPackets |
bool | myProcessImmediately |
ArFunctorC< ArLMS2xx > | myRobotConnectCB |
bool | myRunningOnRobot |
ArFunctorC< ArLMS2xx > | mySensorInterpCB |
unsigned int | mySimPacketCounter |
ArTransform | mySimPacketEncoderTrans |
ArRetFunctor1C< bool, ArLMS2xx, ArRobotPacket * > | mySimPacketHandler |
ArPose | mySimPacketStart |
ArTransform | mySimPacketTrans |
bool | myStartConnect |
State | myState |
ArMutex | myStateMutex |
ArTime | myStateStart |
unsigned int | myTotalNumReadings |
bool | myUseSim |
unsigned int | myWhichReading |
![]() | |
static bool | ourUseSimpleNaming = false |
Compatability class used to access SICK LMS-200 laser rangefinder device in versions of ARIA prior to 2.7.0; used alone or with ArSimpleConnector (also deprecated).
In 2.7.0 and later, ArSick implements the same API as in previous versions, but serves only as an interface to ArLMS2xx; the preferred way to access laser rangefinders is to first connect to a robot using ArRobotConnector to load robot parameter files specifying laser types and options, then use ArLaserConnector to connect to all lasers the robot has. ArRobot stores a list of ArLaser objects for these lasers.
enum ArSick::BaudRate |
enum ArSick::Bits |
enum ArSick::Degrees |
enum ArSick::Increment |
enum ArSick::Units |
void ArSick::configure | ( | bool | useSim = false , |
bool | powerControl = true , |
||
bool | laserFlipped = false , |
||
BaudRate | baud = BAUD38400 , |
||
Degrees | deg = DEGREES180 , |
||
Increment | incr = INCREMENT_ONE |
||
) |
Use this to manually configure the laser before connecting to it.
Manually set laser configuration options for connection.
This must be called only before connecting to the laser (not while the laser is connected). This configuration is automatically performed if you are using ArSimpleConnector to connect to the laser based on command line parameters, so calling this function is only neccesary if you are not using ArSimpleConnector, or you wish to always override ArSimpleConnector's configuration.
(Don't forget, you must lock ArLMS2xx with lockDevice() if multiple threads are accessing the ArLMS2xx, e.g. if you used runAsync().)
void ArSick::configureShort | ( | bool | useSim = false , |
BaudRate | baud = BAUD38400 , |
||
Degrees | deg = DEGREES180 , |
||
Increment | incr = INCREMENT_ONE |
||
) |
Shorter configure for the laser (settings are overridden by the .p file)
Use this to manually configure the laser before connecting to it.
Manually set laser configuration options for connection.
This must be called only before connecting to the laser (not while the laser is connected). This configuration is automatically performed if you are using ArSimpleConnector to connect to the laser based on command line parameters, so calling this function is only neccesary if you are not using ArSimpleConnector, or you wish to always override ArSimpleConnector's configuration.
(Don't forget, you must lock ArLMS2xx with lockDevice() if multiple threads are accessing the ArLMS2xx, e.g. if you used runAsync().)
|
inline |
You should use getPlanarCumulativeCleanInterval for this now.
|
inline |
You should use getCumulativeCleanDist for this now.
|
inline |
You should use getMaxInsertDistCumulative for this now.
|
inline |
you should use getMaxSecondsToKeepCumulative instead, (replaces this)
|
inline |
You should see getMaxDistToKeepCumulative (it replaces this)
|
inline |
You should use getMinDistBetweenCumulative for this now.
|
inline |
You should use getMinDistBetweenCurrent for this now.
|
inline |
Used to set the min range, this is no longer used because it doesn't actually solve anything (because beams that see near things and far things average)
|
inline |
You should use setCumulativeCleanInterval for this now.
|
inline |
You should use setCumulativeCleanDist for this now.
|
inline |
You should use setMaxInsertDistCumulative for this now.
|
inline |
you should use setMaxSecondsToKeepCumulative instead, (replaces this)
|
inline |
You should see setMaxDistToKeepCumulative (it replaces this)
|
inline |
You should use setMinDistBetweenCumulative for this now.
|
inline |
You should use setMinDistBetweenCurrent for this now.
|
inline |
Used to get the min range, this is no longer used because it doesn't actually solve anything (because beams that see near things and far things average)
void ArSick::setRangeInformation | ( | Bits | bits = BITS_1REFLECTOR , |
Units | units = UNITS_1MM |
||
) |
Sets the ranging/reflector information.
Sets the range/bit information.
The old immutable combination is (in effect) the same as the new default. If you look at the enums for these units you can see the effect this has on range.