#include <sick_generic_parser.h>

Inheritance diagram for sick_scan::SickGenericParser:

Public Member Functions
int	checkForDistAndRSSI (std::vector< char * > &fields, int expected_number_of_data, int &distNum, int &rssiNum, std::vector< float > &distVal, std::vector< float > &rssiVal, int &distMask)
	check for DIST and RSSI-entries in the datagram. Helper routine for parser
void	checkScanTiming (float time_increment, float scan_time, float angle_increment, float tol)
float	get_range_max (void)
	Getting maximum range.
float	get_range_min (void)
	Getting minimum range.
ScannerBasicParam *	getCurrentParamPtr ()
	Gets Pointer to parameter object.
std::string	getScannerType (void)
	getting scannertype
int	lookUpForAllowedScanner (std::string scannerName)
	checks the given scannerName/scannerType of validity
virtual int	parse_datagram (char *datagram, size_t datagram_length, SickScanConfig &config, sensor_msgs::LaserScan &msg, int &numEchos, int &echoMask)
	Parsing Ascii datagram.
void	set_range_max (float max)
	Setting maximum range.
void	set_range_min (float min)
	Setting minimum range.
void	set_time_increment (float time)
	setting time increment between shots
void	setCurrentParamPtr (ScannerBasicParam *_ptr)
	Set pointer to corresponding parameter object to the parser.
void	setScannerType (std::string s)
	setting scannertype
	SickGenericParser (std::string scannerType)
	Construction of parser object.
virtual	~SickGenericParser ()
	Destructor of parser.
Private Attributes
std::vector< std::string >	allowedScannerNames
std::vector< ScannerBasicParam >	basicParams
ScannerBasicParam *	currentParamSet
float	override_range_max_
float	override_range_min_
float	override_time_increment_
std::string	scannerType

Detailed Description

Definition at line 96 of file sick_generic_parser.h.

Constructor & Destructor Documentation

sick_scan::SickGenericParser::SickGenericParser ( std::string _scanType )

Construction of parser object.

Parameters:

_scanType Type of the Laserscanner

Definition at line 309 of file sick_generic_parser.cpp.

sick_scan::SickGenericParser::~SickGenericParser ( ) [virtual]

Destructor of parser.

See also:: Constructor SickGenericParser

Definition at line 463 of file sick_generic_parser.cpp.

Member Function Documentation

int sick_scan::SickGenericParser::checkForDistAndRSSI	(	std::vector< char * > &	fields,
		int	expected_number_of_data,
		int &	distNum,
		int &	rssiNum,
		std::vector< float > &	distVal,
		std::vector< float > &	rssiVal,
		int &	distMask
	)

check for DIST and RSSI-entries in the datagram. Helper routine for parser

Parameters:

fields,:	String entries holding the information
expected_number_of_data,:	Warning, if the number of found entries does not correspond to this entries
distNum,:	Number of found DIST-entries
rssiNum,:	Number of found RSSI-entries
distVal,:	parsed istance values
rssiVal,:	parsed RSSI-values
distMask,:	Bit-Masking holds the information of found DIST-entries (e.g. DIST1 -> Bit 0, DIST2 -> BIT 1 and so on)

Returns:: Errorcode

See also:: parse_datagram

Definition at line 480 of file sick_generic_parser.cpp.

void sick_scan::SickGenericParser::checkScanTiming	(	float	time_increment,
		float	scan_time,
		float	angle_increment,
		float	tol
	)

Definition at line 566 of file sick_generic_parser.cpp.

float sick_scan::SickGenericParser::get_range_max ( void )

Getting maximum range.

Returns:: range in [m]

See also:: set_range_max

Definition at line 936 of file sick_generic_parser.cpp.

float sick_scan::SickGenericParser::get_range_min ( void )

Getting minimum range.

Returns:: range in [m]

See also:: set_range_min

Definition at line 946 of file sick_generic_parser.cpp.

ScannerBasicParam * sick_scan::SickGenericParser::getCurrentParamPtr ( )

Gets Pointer to parameter object.

Returns:: Pointer to parameter object holding information about protocol usage and scanner type specific parameter

Definition at line 435 of file sick_generic_parser.cpp.

std::string sick_scan::SickGenericParser::getScannerType ( void )

getting scannertype

Returns:: scannerType

Definition at line 977 of file sick_generic_parser.cpp.

int sick_scan::SickGenericParser::lookUpForAllowedScanner ( std::string scannerName )

checks the given scannerName/scannerType of validity

Parameters:

scannerName as string (e.g. "tim_5xx")

Returns:: index of found scanner. -1 corresponds to "not found"

Definition at line 445 of file sick_generic_parser.cpp.

int sick_scan::SickGenericParser::parse_datagram	(	char *	datagram,
		size_t	datagram_length,
		SickScanConfig &	config,
		sensor_msgs::LaserScan &	msg,
		int &	numEchos,
		int &	echoMask
	)		`[virtual]`

Parsing Ascii datagram.

Parameters:

datagram,:	Pointer to datagram data
datagram_length,:	Number of bytes in datagram
config,:	Pointer to Configdata
msg,:	Holds result of Parsing
numEchos,:	Number of DIST-blocks found in message
echoMask,:	Mask corresponding to DIST-block-identifier