laser.NaoqiLaser Class Reference

Inheritance diagram for laser.NaoqiLaser:

List of all members.

Public Member Functions
def	__init__
def	connectNaoQi
def	createLaserMessage
def	createPointCloudMessage
def	fetchLaserValues
def	fetchPCValues
def	run
Public Attributes
	laserGroundLeftFrame
	laserGroundLeftPublisher
	laserGroundRightFrame
	laserGroundRightPublisher
	laserProxy
	laserRate
	laserscan
	laserShovelFrame
	laserShovelPublisher
	laserSRDFrontFrame
	laserSRDFrontPublisher
	laserSRDFrontPublisher_test
	laserSRDLeftFrame
	laserSRDLeftPublisher
	laserSRDRightFrame
	laserSRDRightPublisher
	memProxy
	pcGroundLeftPublisher
	pcGroundRightPublisher
	pcShovelPublisher
	pcSRDFrontPublisher
	pcSRDLeftPublisher
	pcSRDRightPublisher
	pointcloud
Static Public Attributes
string	PARAM_LASER_GROUND_LEFT_FRAME = '~laser_ground_left_frame_id'
string	PARAM_LASER_GROUND_LEFT_FRAME_DEFAULT = 'VerticalLeftLaser_frame'
string	PARAM_LASER_GROUND_RIGHT_FRAME = '~laser_ground_right_frame_id'
string	PARAM_LASER_GROUND_RIGHT_FRAME_DEFAULT = 'VerticalRightLaser_frame'
string	PARAM_LASER_RATE = '~laser_rate'
	PARAM_LASER_RATE_DEFAULT = PEPPER_LASER_FREQ
string	PARAM_LASER_SHOVEL_FRAME = '~laser_shovel_frame_id'
string	PARAM_LASER_SHOVEL_FRAME_DEFAULT = 'ShovelLaser_frame'
string	PARAM_LASER_SRD_FRONT_FRAME = '~laser_srd_front_frame_id'
string	PARAM_LASER_SRD_FRONT_FRAME_DEFAULT = 'SurroundingFrontLaser_frame'
string	PARAM_LASER_SRD_LEFT_FRAME = '~laser_srd_left_frame_id'
string	PARAM_LASER_SRD_LEFT_FRAME_DEFAULT = 'SurroundingLeftLaser_frame'
string	PARAM_LASER_SRD_RIGHT_FRAME = '~laser_srd_right_frame_id'
string	PARAM_LASER_SRD_RIGHT_FRAME_DEFAULT = 'SurroundingRightLaser_frame'
tuple	PEPPER_LASER_FOV = math.fabs(PEPPER_LASER_MIN_ANGLE)
int	PEPPER_LASER_FREQ = 6
int	PEPPER_LASER_GROUND_LEFT_POINTS = 1
int	PEPPER_LASER_GROUND_RIGHT_POINTS = 1
int	PEPPER_LASER_GROUND_SHOVEL_POINTS = 3
float	PEPPER_LASER_MAX_ANGLE = 0.523598776
float	PEPPER_LASER_MAX_RANGE = 5.0
float	PEPPER_LASER_MIN_ANGLE = 0.523598776
float	PEPPER_LASER_MIN_RANGE = 0.1
int	PEPPER_LASER_SRD_POINTS = 15
string	PEPPER_LASER_SUB_NAME = 'pepper_ros_laser'
string	PEPPER_MEM_KEY_GROUND_LEFT = 'Device/SubDeviceList/Platform/LaserSensor/Front/Vertical/Left/'
string	PEPPER_MEM_KEY_GROUND_RIGHT = 'Device/SubDeviceList/Platform/LaserSensor/Front/Vertical/Right/'
string	PEPPER_MEM_KEY_GROUND_SHOVEL = 'Device/SubDeviceList/Platform/LaserSensor/Front/Shovel/'
string	PEPPER_MEM_KEY_SRD_FRONT = 'Device/SubDeviceList/Platform/LaserSensor/Front/Horizontal/'
string	PEPPER_MEM_KEY_SRD_LEFT = 'Device/SubDeviceList/Platform/LaserSensor/Left/Horizontal/'
string	PEPPER_MEM_KEY_SRD_RIGHT = 'Device/SubDeviceList/Platform/LaserSensor/Right/Horizontal/'
string	TOPIC_LASER_GROUND_LEFT = '~/pepper/laser/ground_left/'
string	TOPIC_LASER_GROUND_RIGHT = '~/pepper/laser/ground_right/'
string	TOPIC_LASER_SHOVEL = '~/pepper/laser/shovel/'
string	TOPIC_LASER_SRD_FRONT = '~/pepper/laser/srd_front/'
string	TOPIC_LASER_SRD_LEFT = '~/pepper/laser/srd_left/'
string	TOPIC_LASER_SRD_RIGHT = '~/pepper/laser/srd_right/'

---

Detailed Description

Definition at line 36 of file laser.py.

---

Constructor & Destructor Documentation

def laser.NaoqiLaser.__init__	(		self,
			pointcloud = True,
			laserscan = False
	)

Definition at line 98 of file laser.py.

---

Member Function Documentation

def laser.NaoqiLaser.connectNaoQi

(

self

)

Definition at line 150 of file laser.py.

def laser.NaoqiLaser.createLaserMessage	(		self,
			frameID,
			keyPrefix,
			scanNum
	)

Definition at line 203 of file laser.py.

def laser.NaoqiLaser.createPointCloudMessage	(		self,
			frameID,
			keyPrefix,
			scanNum
	)

Definition at line 187 of file laser.py.

def laser.NaoqiLaser.fetchLaserValues	(		self,
			keyPrefix,
			scanNum
	)

Definition at line 163 of file laser.py.

def laser.NaoqiLaser.fetchPCValues	(		self,
			keyPrefix,
			scanNum
	)

Definition at line 174 of file laser.py.

def laser.NaoqiLaser.run

(

self

)

Definition at line 214 of file laser.py.

---

Member Data Documentation

laser.NaoqiLaser::laserGroundLeftFrame

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserGroundLeftPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserGroundRightFrame

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserGroundRightPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserProxy

Definition at line 150 of file laser.py.

laser.NaoqiLaser::laserRate

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserscan

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserShovelFrame

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserShovelPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserSRDFrontFrame

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserSRDFrontPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserSRDFrontPublisher_test

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserSRDLeftFrame

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserSRDLeftPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserSRDRightFrame

Definition at line 98 of file laser.py.

laser.NaoqiLaser::laserSRDRightPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::memProxy

Definition at line 150 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_GROUND_LEFT_FRAME = '~laser_ground_left_frame_id' [static]

Definition at line 74 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_GROUND_LEFT_FRAME_DEFAULT = 'VerticalLeftLaser_frame' [static]

Definition at line 75 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_GROUND_RIGHT_FRAME = '~laser_ground_right_frame_id' [static]

Definition at line 77 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_GROUND_RIGHT_FRAME_DEFAULT = 'VerticalRightLaser_frame' [static]

Definition at line 78 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_RATE = '~laser_rate' [static]

Definition at line 67 of file laser.py.

laser.NaoqiLaser::PARAM_LASER_RATE_DEFAULT = PEPPER_LASER_FREQ [static]

Definition at line 68 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_SHOVEL_FRAME = '~laser_shovel_frame_id' [static]

Definition at line 71 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_SHOVEL_FRAME_DEFAULT = 'ShovelLaser_frame' [static]

Definition at line 72 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_SRD_FRONT_FRAME = '~laser_srd_front_frame_id' [static]

Definition at line 80 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_SRD_FRONT_FRAME_DEFAULT = 'SurroundingFrontLaser_frame' [static]

Definition at line 81 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_SRD_LEFT_FRAME = '~laser_srd_left_frame_id' [static]

Definition at line 83 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_SRD_LEFT_FRAME_DEFAULT = 'SurroundingLeftLaser_frame' [static]

Definition at line 84 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_SRD_RIGHT_FRAME = '~laser_srd_right_frame_id' [static]

Definition at line 86 of file laser.py.

string laser.NaoqiLaser::PARAM_LASER_SRD_RIGHT_FRAME_DEFAULT = 'SurroundingRightLaser_frame' [static]

Definition at line 87 of file laser.py.

laser.NaoqiLaser::pcGroundLeftPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::pcGroundRightPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::pcShovelPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::pcSRDFrontPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::pcSRDLeftPublisher

Definition at line 98 of file laser.py.

laser.NaoqiLaser::pcSRDRightPublisher

Definition at line 98 of file laser.py.

tuple laser.NaoqiLaser::PEPPER_LASER_FOV = math.fabs(PEPPER_LASER_MIN_ANGLE) [static]

Definition at line 43 of file laser.py.

int laser.NaoqiLaser::PEPPER_LASER_FREQ = 6 [static]

Definition at line 40 of file laser.py.

int laser.NaoqiLaser::PEPPER_LASER_GROUND_LEFT_POINTS = 1 [static]

Definition at line 50 of file laser.py.

int laser.NaoqiLaser::PEPPER_LASER_GROUND_RIGHT_POINTS = 1 [static]

Definition at line 51 of file laser.py.

int laser.NaoqiLaser::PEPPER_LASER_GROUND_SHOVEL_POINTS = 3 [static]

Definition at line 49 of file laser.py.

float laser.NaoqiLaser::PEPPER_LASER_MAX_ANGLE = 0.523598776 [static]

Definition at line 42 of file laser.py.

float laser.NaoqiLaser::PEPPER_LASER_MAX_RANGE = 5.0 [static]

Definition at line 46 of file laser.py.

float laser.NaoqiLaser::PEPPER_LASER_MIN_ANGLE = 0.523598776 [static]

Definition at line 41 of file laser.py.

float laser.NaoqiLaser::PEPPER_LASER_MIN_RANGE = 0.1 [static]

Definition at line 45 of file laser.py.

int laser.NaoqiLaser::PEPPER_LASER_SRD_POINTS = 15 [static]

Definition at line 53 of file laser.py.

string laser.NaoqiLaser::PEPPER_LASER_SUB_NAME = 'pepper_ros_laser' [static]

Definition at line 96 of file laser.py.

string laser.NaoqiLaser::PEPPER_MEM_KEY_GROUND_LEFT = 'Device/SubDeviceList/Platform/LaserSensor/Front/Vertical/Left/' [static]

Definition at line 59 of file laser.py.

string laser.NaoqiLaser::PEPPER_MEM_KEY_GROUND_RIGHT = 'Device/SubDeviceList/Platform/LaserSensor/Front/Vertical/Right/' [static]

Definition at line 60 of file laser.py.

string laser.NaoqiLaser::PEPPER_MEM_KEY_GROUND_SHOVEL = 'Device/SubDeviceList/Platform/LaserSensor/Front/Shovel/' [static]

Definition at line 58 of file laser.py.

string laser.NaoqiLaser::PEPPER_MEM_KEY_SRD_FRONT = 'Device/SubDeviceList/Platform/LaserSensor/Front/Horizontal/' [static]

Definition at line 61 of file laser.py.

string laser.NaoqiLaser::PEPPER_MEM_KEY_SRD_LEFT = 'Device/SubDeviceList/Platform/LaserSensor/Left/Horizontal/' [static]

Definition at line 62 of file laser.py.

string laser.NaoqiLaser::PEPPER_MEM_KEY_SRD_RIGHT = 'Device/SubDeviceList/Platform/LaserSensor/Right/Horizontal/' [static]

Definition at line 63 of file laser.py.

laser.NaoqiLaser::pointcloud

Definition at line 98 of file laser.py.

string laser.NaoqiLaser::TOPIC_LASER_GROUND_LEFT = '~/pepper/laser/ground_left/' [static]

Definition at line 90 of file laser.py.

string laser.NaoqiLaser::TOPIC_LASER_GROUND_RIGHT = '~/pepper/laser/ground_right/' [static]

Definition at line 91 of file laser.py.

string laser.NaoqiLaser::TOPIC_LASER_SHOVEL = '~/pepper/laser/shovel/' [static]

Definition at line 89 of file laser.py.

string laser.NaoqiLaser::TOPIC_LASER_SRD_FRONT = '~/pepper/laser/srd_front/' [static]

Definition at line 92 of file laser.py.

string laser.NaoqiLaser::TOPIC_LASER_SRD_LEFT = '~/pepper/laser/srd_left/' [static]

Definition at line 93 of file laser.py.

string laser.NaoqiLaser::TOPIC_LASER_SRD_RIGHT = '~/pepper/laser/srd_right/' [static]

Definition at line 94 of file laser.py.

---

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

• laser.py