qrk::UrgCtrl Class Reference

URG sensor control. More...

#include <UrgCtrl.h>

Inheritance diagram for qrk::UrgCtrl:

Public Types
enum	{ DefaultBaudrate = 115200, DefaultRetryTimes = 8, Infinity = 0, Off = 0, On = 1 }
	Parameter of options. More...
Public Member Functions
int	capture (std::vector< long > &data, long *timestamp=NULL)
	Get data.
RangeCaptureMode	captureMode (void)
	Data acquisition mode.
int	captureWithIntensity (std::vector< long > &data, std::vector< long > &intensity_data, long *timestamp=NULL)
bool	connect (const char *device, long baudrate=DefaultBaudrate)
	Connection.
Connection *	connection (void)
	Get connection object.
void	disconnect (void)
	Disconnect.
double	index2rad (const int index) const
	Radian to angle conversion of data index.
bool	isConnected (void) const
	Returns connection status.
bool	loadParameter (void)
	Again read the URG parameter.
long	maxDistance (void) const
	Get valid maximum distance.
int	maxScanLines (void) const
	Get Max scan index.
long	minDistance (void) const
	Get valid minimum distance.
RangeSensorParameter	parameter (void) const
	Get URG parameter.
int	rad2index (const double radian) const
	radian Convert angle in radian to data index
bool	reboot (void)
	Reboot URG.
long	recentTimestamp (void) const
	Latest time stamp value.
size_t	remainCaptureTimes (void)
	Get number of remaining capture times.
bool	reset (void)
	Reboot URG.
int	scanMsec (void) const
	Time taken for 1scan.
void	setCaptureFrameInterval (size_t interval)
	Acquisition interval of scanning data.
void	setCaptureMode (RangeCaptureMode mode)
	Specification of data acquisition mode.
void	setCaptureRange (int begin_index, int end_index)
	Specifies the range of data acquisition.
void	setCaptureSkipLines (size_t skip_lines)
	Specify the number of scanline to be skipped.
void	setCapturesSize (size_t size)
	Set number of scan data stored internally.
void	setCaptureTimes (size_t times)
	Specify the frequency of data acquisition.
void	setConnection (Connection *con)
	Specifies the connection object.
bool	setLaserOutput (bool on)
	Laser turn Off/ turn On.
void	setParameter (const RangeSensorParameter &parameter)
	Update URG parameter.
void	setRetryTimes (size_t times)
	Set number of retry times when connection failed.
bool	setTimestamp (int timestamp=0, int response_msec=NULL, int force_delay_msec=NULL)
	Sets the timestamp value. Sensor returs this timestamp value.
void	stop (void)
	Stop data acquisition.
	UrgCtrl (void)
bool	versionLines (std::vector< std::string > &lines)
	Get version information.
const char *	what (void) const
	Returns internal status.
virtual	~UrgCtrl (void)
Protected Member Functions
virtual void	captureReceived (void)
Private Member Functions
UrgCtrl &	operator= (const UrgCtrl &rhs)
	UrgCtrl (const UrgCtrl &rhs)
Private Attributes
std::auto_ptr< pImpl >	pimpl

Detailed Description

URG sensor control.

Definition at line 23 of file UrgCtrl.h.

Member Enumeration Documentation

anonymous enum

Parameter of options.

Enumerator:

DefaultBaudrate	[bps]
DefaultRetryTimes
Infinity
Off	Laser is off.
On	Laser is on.

Definition at line 28 of file UrgCtrl.h.

Constructor & Destructor Documentation

qrk::UrgCtrl::UrgCtrl ( void )

virtual qrk::UrgCtrl::~UrgCtrl ( void ) [virtual]

qrk::UrgCtrl::UrgCtrl ( const UrgCtrl & rhs ) [private]

Member Function Documentation

int qrk::UrgCtrl::capture	(	std::vector< long > &	data,
		long *	timestamp = `NULL`
	)			`[virtual]`

Get data.

Get data and store it in buffer.

Parameters:

`[out]`	data	Buffer to store data
`[out]`	timestamp	Time stamp

Returns:: Number of data recieved.

Return values:

<0

Receiving failed

Implements qrk::RangeSensor.

RangeCaptureMode qrk::UrgCtrl::captureMode ( void ) [virtual]

Data acquisition mode.

Returns:: Present data acquisition mode

See also:: setCaptureMode()

Implements qrk::RangeSensor.

virtual void qrk::UrgCtrl::captureReceived ( void ) [protected, virtual]

int qrk::UrgCtrl::captureWithIntensity	(	std::vector< long > &	data,
		std::vector< long > &	intensity_data,
		long *	timestamp = `NULL`
	)			`[virtual]`

Implements qrk::RangeSensor.

bool qrk::UrgCtrl::connect	(	const char *	device,
		long	baudrate = `DefaultBaudrate`
	)			`[virtual]`

Connection.

Parameters:

`[in]`	device	Connected device name
`[in]`	baudrate	Baudrate

Return values:

	true	Success
	false	Failure

Example

const char device[] = "/dev/ttyACM0";
const long baudrate = 115200;
UrgCtrl sensor;

// Connect to specified device
if (! sensor.connect(device, baudrate)) {
  printf("connect: %s\n", sensor.what());
  exit(1);
}

Implements qrk::RangeSensor.

Connection* qrk::UrgCtrl::connection ( void ) [virtual]

Get connection object.

Returns:: Connection object

Implements qrk::RangeSensor.

void qrk::UrgCtrl::disconnect ( void ) [virtual]

Disconnect.

Implements qrk::RangeSensor.

double qrk::UrgCtrl::index2rad ( const int index ) const [virtual]

Radian to angle conversion of data index.

Front of sensor is considered as 0.0 in radians.

Parameters:

[in] index Data index

Returns:: angle [radian]

upper view

See also:: index2deg(), rad2index(), deg2index()

Implements qrk::RangeSensor.

bool qrk::UrgCtrl::isConnected ( void ) const [virtual]

Returns connection status.

Return values:

	true	If connected.
	false	if disconnected.

Implements qrk::RangeSensor.

bool qrk::UrgCtrl::loadParameter ( void )

Again read the URG parameter.

Return values:

	true	success
	false	error

long qrk::UrgCtrl::maxDistance ( void ) const [virtual]

Get valid maximum distance.

Returns:: Valid maximum distance

Implements qrk::RangeSensor.

int qrk::UrgCtrl::maxScanLines ( void ) const [virtual]

Get Max scan index.

Returns:: Max scan index

Implements qrk::RangeSensor.

long qrk::UrgCtrl::minDistance ( void ) const [virtual]

Get valid minimum distance.

Returns:: valid minimum distance

Implements qrk::RangeSensor.

UrgCtrl& qrk::UrgCtrl::operator= ( const UrgCtrl & rhs ) [private]

RangeSensorParameter qrk::UrgCtrl::parameter ( void ) const [virtual]

Get URG parameter.

Returns:: URG parameter

Implements qrk::RangeSensor.

int qrk::UrgCtrl::rad2index ( const double radian ) const [virtual]

radian Convert angle in radian to data index

Front of sensor is considered as 0.0 in radians.

Parameters:

[in] radian angle [radian]

Returns:: Data index

See also:: deg2index(), index2rad(), index2deg()

Implements qrk::RangeSensor.

bool qrk::UrgCtrl::reboot ( void )

Reboot URG.

Attention:: Only Top-URG (2010-02-04)

long qrk::UrgCtrl::recentTimestamp ( void ) const [virtual]

Latest time stamp value.

Returns:: Time stamp value

Reimplemented from qrk::RangeSensor.

size_t qrk::UrgCtrl::remainCaptureTimes ( void )

Get number of remaining capture times.

Returns:: number of remaining capture times

Attention:: Data acquisition mode is valid only at AutoCapture, IntensityCapture

bool qrk::UrgCtrl::reset ( void )

Reboot URG.

Deprecated:: use reboot() function.

int qrk::UrgCtrl::scanMsec ( void ) const [virtual]

Time taken for 1scan.

Returns:: Time taken for 1scan.[msec]

Implements qrk::RangeSensor.

void qrk::UrgCtrl::setCaptureFrameInterval ( size_t interval )

Acquisition interval of scanning data.

The data traffic between URG and the library can be decreased by lowering the frequency of data acquisition. refer to scip_capture_parameter_section

Parameters:

[in] interval capture interval

void qrk::UrgCtrl::setCaptureMode ( RangeCaptureMode mode ) [virtual]

Specification of data acquisition mode.

Parameters:

[in] mode The mode defined by RangeCaptureMode can be specified

See also:: captureMode()

Implements qrk::RangeSensor.

void qrk::UrgCtrl::setCaptureRange	(	int	begin_index,
		int	end_index
	)

Specifies the range of data acquisition.

Refer to scip_capture_parameter_section.

Parameters:

`[in]`	begin_index	Measurement beginning position
`[in]`	end_index	Measurement end position

void qrk::UrgCtrl::setCaptureSkipLines ( size_t skip_lines )

Specify the number of scanline to be skipped.

The number of thinning out of acquisition data in one scanning is specified.

Parameters:

[in] skip_lines number of scanline to be skipped.

For example, if number of scan lines to be skipped = 1 , then will be

100, 101, 103, 104, 105, 100, ...

In case, number of scanlines to be skipped = 2, then acquired data will be

100, 103, 100, ...

(The shortest distance data is returned. )
As a result, the data traffic between URG and the library can be decreased. However, the volume of data that capture() returns doesnot change. Returns

100, 100, 103, 103, 100, 100, ...

To guarantee the operation of rad2index() and index2rad(), volume of data does not changing :.

void qrk::UrgCtrl::setCapturesSize ( size_t size )

Set number of scan data stored internally.

Parameters:

[in] size Number of scanning data to be stored

void qrk::UrgCtrl::setCaptureTimes ( size_t times )

Specify the frequency of data acquisition.

Refer to scip_capture_parameter_section

Parameters:

[in] times Frequency of data acquisition

Attention:: Data acquisition mode is valid only at AutoCapture, IntensityCapture

void qrk::UrgCtrl::setConnection ( Connection * con ) [virtual]

Specifies the connection object.

Parameters:

[in] con Connection object

Implements qrk::RangeSensor.

bool qrk::UrgCtrl::setLaserOutput ( bool on ) [virtual]

Laser turn Off/ turn On.

Parameters:

[in] on true to turn On , false to turn off

Implements qrk::RangeSensor.

void qrk::UrgCtrl::setParameter ( const RangeSensorParameter & parameter ) [virtual]

Update URG parameter.

Parameters:

[in] parameter data used to update URG parameter

Implements qrk::RangeSensor.

void qrk::UrgCtrl::setRetryTimes ( size_t times )

Set number of retry times when connection failed.

The retry counter is cleared when connect normaly.

Parameters:

[in] times retry times

Attention:: Data acquisition mode is valid only at AutoCapture

bool qrk::UrgCtrl::setTimestamp	(	int	timestamp = `0`,
		int *	response_msec = `NULL`,
		int *	force_delay_msec = `NULL`
	)			`[virtual]`

Sets the timestamp value. Sensor returs this timestamp value.

Sets the time stamp that can be acquired with capture().

Parameters:

`[in]`	ticks	Set value of time stamp at that time
`[out]`	response_msec	Response time for sending and receiving message [msec]
`[in]`	force_delay_msec	Forced delay

Return values:

	true	Success
	false	Failure

Implements qrk::RangeSensor.

void qrk::UrgCtrl::stop ( void )

Stop data acquisition.

Attention:: Data acquisition mode is valid only at AutoCapture, IntensityCapture

bool qrk::UrgCtrl::versionLines ( std::vector< std::string > & lines )

Get version information.

Parameters:

[out] lines Storage location of version information

Return values:

	true	success
	false	error

Example

viewVvSample::cpp

const char* qrk::UrgCtrl::what ( void ) const [virtual]

Returns internal status.

Returns:: String that represent internal status

Example

UrgCtrl sensor;
if (! sensor.connect(device, baudrate)) {
  // Displays error message when connection is failed.
  printf("connect: %s\n", sensor.what());
  exit(1);
}

Implements qrk::RangeSensor.

Member Data Documentation

std::auto_ptr<pImpl> qrk::UrgCtrl::pimpl [private]

Reimplemented from qrk::Coordinate.

Definition at line 259 of file UrgCtrl.h.

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

UrgCtrl.h

qrk::UrgCtrl Class Reference

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation