sick_scan::SickGenericParser Class Reference

#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 More...
void	checkScanTiming (float time_increment, float scan_time, float angle_increment, float tol)
float	get_range_max (void)
	Getting maximum range. More...
float	get_range_min (void)
	Getting minimum range. More...
ScannerBasicParam *	getCurrentParamPtr ()
	Gets Pointer to parameter object. More...
std::string	getScannerType (void)
	getting scannertype More...
int	lookUpForAllowedScanner (std::string scannerName)
	checks the given scannerName/scannerType of validity More...
virtual int	parse_datagram (char *datagram, size_t datagram_length, SickScanConfig &config, sensor_msgs::LaserScan &msg, int &numEchos, int &echoMask)
	Parsing Ascii datagram. More...
void	set_range_max (float max)
	Setting maximum range. More...
void	set_range_min (float min)
	Setting minimum range. More...
void	set_time_increment (float time)
	setting time increment between shots More...
void	setCurrentParamPtr (ScannerBasicParam *_ptr)
	Set pointer to corresponding parameter object to the parser. More...
void	setScannerType (std::string s)
	setting scannertype More...
	SickGenericParser (std::string scannerType)
	Construction of parser object. More...
virtual	~SickGenericParser ()
	Destructor of parser. More...
Public Member Functions inherited from sick_scan::AbstractParser
	AbstractParser ()
virtual	~AbstractParser ()

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 155 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 395 of file sick_generic_parser.cpp.

sick_scan::SickGenericParser::~SickGenericParser ( )

virtual

Destructor of parser.

See also

Constructor SickGenericParser

Definition at line 687 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 704 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 793 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 1179 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 1189 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 659 of file sick_generic_parser.cpp.

std::string sick_scan::SickGenericParser::getScannerType

(

void

)

getting scannertype

Returns

scannerType

Definition at line 1220 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 669 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

Returns

set_range_max

Implements sick_scan::AbstractParser.

Definition at line 823 of file sick_generic_parser.cpp.

void sick_scan::SickGenericParser::set_range_max

(

float

max

)

Setting maximum range.

Parameters

max	range in [m]

See also

set_range_min

Definition at line 1168 of file sick_generic_parser.cpp.

void sick_scan::SickGenericParser::set_range_min

(

float

min

)

Setting minimum range.

Parameters

min	range in [m]

See also

set_range_max

Definition at line 1158 of file sick_generic_parser.cpp.

void sick_scan::SickGenericParser::set_time_increment

(

float

time

)

setting time increment between shots

Parameters

time

increment

Definition at line 1199 of file sick_generic_parser.cpp.

void sick_scan::SickGenericParser::setCurrentParamPtr

(

ScannerBasicParam *

_ptr

)

Set pointer to corresponding parameter object to the parser.

Parameters

_ptr	to parameter object

See also

getCurrentParamPtr

Definition at line 166 of file sick_generic_parser.cpp.

void sick_scan::SickGenericParser::setScannerType

(

std::string

_scannerType

)

setting scannertype

Parameters

_scannerType

See also

getScannerType

Definition at line 1210 of file sick_generic_parser.cpp.

Member Data Documentation

std::vector<std::string> sick_scan::SickGenericParser::allowedScannerNames

private

Definition at line 197 of file sick_generic_parser.h.

std::vector<ScannerBasicParam> sick_scan::SickGenericParser::basicParams

private

Definition at line 198 of file sick_generic_parser.h.

ScannerBasicParam* sick_scan::SickGenericParser::currentParamSet

private

Definition at line 199 of file sick_generic_parser.h.

float sick_scan::SickGenericParser::override_range_max_

private

Definition at line 194 of file sick_generic_parser.h.

float sick_scan::SickGenericParser::override_range_min_

private

Definition at line 194 of file sick_generic_parser.h.

float sick_scan::SickGenericParser::override_time_increment_

private

Definition at line 195 of file sick_generic_parser.h.

std::string sick_scan::SickGenericParser::scannerType

private

Definition at line 196 of file sick_generic_parser.h.

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

• sick_generic_parser.h
• sick_generic_parser.cpp