Implements the functionalities for a sonar sensor. More...

#include <stdr_gui_sonar.h>

Public Member Functions
void	callback (const sensor_msgs::Range &msg)
	Callback for the ros sonar message.
	CGuiSonar (stdr_msgs::SonarSensorMsg msg, std::string baseTopic)
	Default contructor.
std::string	getFrameId (void)
	Returns the frame id of the specific sonar sensor.
float	getMaxRange (void)
	Returns the max range of the specific sonar sensor.
char	getVisualizationStatus (void)
	Returns the visibility status of the specific sonar sensor.
void	paint (QImage m, float ocgd, tf::TransformListener listener)
	Paints the sonar range in the map image.
void	setVisualizationStatus (char vs)
	Sets the visibility status of the specific sonar sensor.
void	toggleVisualizationStatus (void)
	Toggles the visibility status of the specific sonar sensor.
void	visualizerPaint (QImage *m, float ocgd, float maxRange)
	Paints the sonar range in it's own visualizer.
	~CGuiSonar (void)
	Default destructor.
Private Attributes
bool	lock_
	< Used to avoid drawing when a new sonar message arives
stdr_msgs::SonarSensorMsg	msg_
	Subscriber for the ros sensor msg.
sensor_msgs::Range	range_
	Visualization status of the specific sonar.
ros::Subscriber	subscriber_
	The ros sonar range msg.
std::string	tf_frame_
	A sonar sensor message : Depscription of a sonar sensor.
std::string	topic_
	The ROS tf frame.
char	visualization_status_

Detailed Description

Implements the functionalities for a sonar sensor.

Definition at line 41 of file stdr_gui_sonar.h.

Constructor & Destructor Documentation

stdr_gui::CGuiSonar::CGuiSonar	(	stdr_msgs::SonarSensorMsg	msg,
		std::string	baseTopic
	)

Default contructor.

Parameters:

msg	[stdr_msgs::SonarSensorMsg] The sonar description msg
baseTopic	[std::string] The ros topic for subscription

Returns:: void

Definition at line 32 of file stdr_gui_sonar.cpp.

stdr_gui::CGuiSonar::~CGuiSonar ( void )

Default destructor.

Returns:: void

Definition at line 47 of file stdr_gui_sonar.cpp.

Member Function Documentation

void stdr_gui::CGuiSonar::callback ( const sensor_msgs::Range & msg )

Callback for the ros sonar message.

Parameters:

msg	[const sensor_msgs::Range&] The new sonar range message

Returns:: void

Definition at line 57 of file stdr_gui_sonar.cpp.

std::string stdr_gui::CGuiSonar::getFrameId ( void )

Returns the frame id of the specific sonar sensor.

Returns:: std::string : The sonar frame id

Definition at line 227 of file stdr_gui_sonar.cpp.

float stdr_gui::CGuiSonar::getMaxRange ( void )

Returns the max range of the specific sonar sensor.

Returns:: float

Definition at line 200 of file stdr_gui_sonar.cpp.

char stdr_gui::CGuiSonar::getVisualizationStatus ( void )

Returns the visibility status of the specific sonar sensor.

Returns:: char : The visibility status

Definition at line 209 of file stdr_gui_sonar.cpp.

void stdr_gui::CGuiSonar::paint	(	QImage *	m,
		float	ocgd,
		tf::TransformListener *	listener
	)

Paints the sonar range in the map image.

Parameters:

m	[QImage*] The image to be drawn
ocgd	[float] The map's resolution
listener	[tf::TransformListener *] ROS tf transform listener

Returns:: void

< Find transformation

< Draw laser stuff

Definition at line 73 of file stdr_gui_sonar.cpp.

void stdr_gui::CGuiSonar::setVisualizationStatus ( char vs )

Sets the visibility status of the specific sonar sensor.

Parameters:

vs	[char] The new visibility status

Returns:: void

Definition at line 237 of file stdr_gui_sonar.cpp.

void stdr_gui::CGuiSonar::toggleVisualizationStatus ( void )

Toggles the visibility status of the specific sonar sensor.

Returns:: void

Definition at line 218 of file stdr_gui_sonar.cpp.

void stdr_gui::CGuiSonar::visualizerPaint	(	QImage *	m,
		float	ocgd,
		float	maxRange
	)

Paints the sonar range in it's own visualizer.

Parameters:

m	[QImage*] The image to be drawn
ocgd	[float] The map's resolution
maxRange	[float] The maximum range of all the robot sensors. Used for the visualizer proportions