#include <os32c.h>

Inheritance diagram for omron_os32c_driver::OS32C:

Public Member Functions
void	fillLaserScanStaticConfig (sensor_msgs::LaserScan *ls)
EIP_UINT	getRangeFormat ()
EIP_UINT	getReflectivityFormat ()
RangeAndReflectanceMeasurement	getSingleRRScan ()
	OS32C (shared_ptr< Socket > socket, shared_ptr< Socket > io_socket)
MeasurementReport	receiveMeasurementReportUDP ()
void	selectBeams (double start_angle, double end_angle)
void	sendMeasurmentReportConfigUDP ()
void	setRangeFormat (EIP_UINT format)
void	setReflectivityFormat (EIP_UINT format)
void	startUDPIO ()
Static Public Member Functions
static double	calcBeamCentre (int beam_num)
static int	calcBeamNumber (double angle)
static void	convertToLaserScan (const RangeAndReflectanceMeasurement &rr, sensor_msgs::LaserScan *ls)
static void	convertToLaserScan (const MeasurementReport &mr, sensor_msgs::LaserScan *ls)
Static Public Attributes
static const double	ANGLE_INC = DEG2RAD(0.4)
static const double	ANGLE_MAX = DEG2RAD( 135.2)
static const double	ANGLE_MIN = DEG2RAD(-135.2)
static const double	DISTANCE_MAX = 50
static const double	DISTANCE_MIN = 0.002
Private Member Functions
void	calcBeamMask (double start_angle, double end_angle, EIP_BYTE mask[])
	FRIEND_TEST (OS32CTest, test_calc_beam_mask_all)
	FRIEND_TEST (OS32CTest, test_calc_beam_at_90)
	FRIEND_TEST (OS32CTest, test_calc_beam_boundaries)
	FRIEND_TEST (OS32CTest, test_calc_beam_invalid_args)
	FRIEND_TEST (OS32CTest, test_convert_to_laserscan)
Private Attributes
int	connection_num_
double	end_angle_
MeasurementReportConfig	mrc_
EIP_UDINT	mrc_sequence_num_
double	start_angle_

Detailed Description

Main interface for the OS32C Laser Scanner. Produces methods to access the laser scanner from a high level, including setting parameters and getting single scans.

Definition at line 75 of file os32c.h.

Constructor & Destructor Documentation

omron_os32c_driver::OS32C::OS32C	(	shared_ptr< Socket >	socket,
		shared_ptr< Socket >	io_socket
	)		`[inline]`

Construct a new OS32C instance.

Parameters:

socket Socket instance to use for communication with the lidar

Definition at line 82 of file os32c.h.

Member Function Documentation

static double omron_os32c_driver::OS32C::calcBeamCentre ( int beam_num ) [inline, static]

Calculate the ROS angle for a beam given the OS32C beam number

Parameters:

beam_num Beam number, starting with 0 being the most CCW beam and positive moving CW around the scan

Returns:: ROS Angle

Definition at line 165 of file os32c.h.

void omron_os32c_driver::OS32C::calcBeamMask	(	double	start_angle,
		double	end_angle,
		EIP_BYTE	mask[]
	)		`[private]`

Helper to calculate the mask for a given start and end beam angle

Parameters:

start_angle	Angle of the first beam in the scan
end_angle	Angle of the last beam in the scan
mask	Holder for the mask data. Must be 88 bytes

Definition at line 85 of file os32c.cpp.

static int omron_os32c_driver::OS32C::calcBeamNumber ( double angle ) [inline, static]

Calculate the beam number on the lidar for a given ROS angle. Note that in ROS angles are given as radians CCW with zero being straight ahead, While the lidar start its scan at the most CCW position and moves positive CW, with zero being at halfway through the scan. Based on my calculations and the OS32C docs, there are 677 beams and the scan area is 135.4 to -135.4 degrees, with a 0.4 degree pitch. The beam centres must then be at 135.2, 134.8, ... 0.4, 0, 0.4, ... -134.8, -135.2.

Parameters:

angle Radians CCW from straight ahead

Returns:: OS32C beam number

Definition at line 154 of file os32c.h.

void omron_os32c_driver::OS32C::convertToLaserScan	(	const RangeAndReflectanceMeasurement &	rr,
		sensor_msgs::LaserScan *	ls
	)		`[static]`

Helper to convert a Range and Reflectance Measurement to a ROS LaserScan. LaserScan is passed as a pointer to avoid a bunch of memory allocation associated with resizing a vector on each scan.

Parameters:

rr	Measurement to convert
ls	Laserscan message to populate.

Definition at line 162 of file os32c.cpp.

void omron_os32c_driver::OS32C::convertToLaserScan	(	const MeasurementReport &	mr,
		sensor_msgs::LaserScan *	ls
	)		`[static]`

Helper to convert a Measurement Report to a ROS LaserScan

Parameters:

mr	Measurement to convert
ls	Laserscan message to populate.

Definition at line 199 of file os32c.cpp.

void omron_os32c_driver::OS32C::fillLaserScanStaticConfig ( sensor_msgs::LaserScan * ls )

Populate the unchanging parts of a ROS LaserScan, including the start_angle and stop_angle, which are configured by the user but ultimately reported by the device.

Parameters:

ls	Laserscan message to populate.

Definition at line 153 of file os32c.cpp.

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_calc_beam_mask_all
	)		`[private]`

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_calc_beam_at_90
	)		`[private]`

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_calc_beam_boundaries
	)		`[private]`

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_calc_beam_invalid_args
	)		`[private]`

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_convert_to_laserscan
	)		`[private]`

EIP_UINT omron_os32c_driver::OS32C::getRangeFormat ( )

Get the range format code. Does a Get Single Attribute to the scanner to get the current range format.

Returns:: range format code.

See also:: OS32C_RANGE_FORMAT

Definition at line 61 of file os32c.cpp.

EIP_UINT omron_os32c_driver::OS32C::getReflectivityFormat ( )

Get the reflectivity format code. Does a Get Single Attribute to the scanner to get the current reflectivity format.

Returns:: reflectivity format code.

See also:: OS32C_REFLECTIVITY_FORMAT

Definition at line 73 of file os32c.cpp.

RangeAndReflectanceMeasurement omron_os32c_driver::OS32C::getSingleRRScan ( )

Make an explicit request for a single Range and Reflectance scan

Returns:: Range and reflectance data received

Exceptions:

std::logic_error if data not received

Definition at line 146 of file os32c.cpp.

MeasurementReport omron_os32c_driver::OS32C::receiveMeasurementReportUDP ( )

Definition at line 247 of file os32c.cpp.

void omron_os32c_driver::OS32C::selectBeams	(	double	start_angle,
		double	end_angle
	)

Select which beams are to be measured. Must be set before requesting measurements. Angles are in ROS conventions. Zero is straight ahead. Positive numbers are CCW and all numbers are in radians.

Parameters: