qrk::RangeSensor Class Reference

Range sensor interface. More...

#include <RangeSensor.h>

Inheritance diagram for qrk::RangeSensor:

Public Member Functions
virtual int	capture (std::vector< long > &data, long *timestamp)=0
	Get data.
virtual RangeCaptureMode	captureMode (void)=0
virtual int	captureWithIntensity (std::vector< long > &data, std::vector< long > &intensity_data, long *timestamp)=0
virtual bool	connect (const char *device, long baudrate)=0
	Connection.
virtual Connection *	connection (void)=0
	Get connection object.
int	deg2index (const int degree) const
	Angle conversion of data index.
virtual void	disconnect (void)=0
	Disconnect.
int	index2deg (const int index) const
	Degree to angle conversion of data index.
virtual double	index2rad (const int index) const =0
	Radian to angle conversion of data index.
virtual bool	isConnected (void) const =0
	Returns connection status.
virtual long	maxDistance (void) const =0
	Get valid maximum distance.
virtual int	maxScanLines (void) const =0
	Get Max scan index.
virtual long	minDistance (void) const =0
	Get valid minimum distance.
virtual RangeSensorParameter	parameter (void) const =0
	Get URG parameter.
virtual int	rad2index (const double radian) const =0
	radian Convert angle in radian to data index
virtual long	recentTimestamp (void) const
	Latest time stamp value.
virtual int	scanMsec (void) const =0
virtual void	setCaptureMode (RangeCaptureMode mode)=0
virtual void	setConnection (Connection *con)=0
	Specifies the connection object.
virtual bool	setLaserOutput (bool on)=0
virtual void	setParameter (const RangeSensorParameter &parameter)=0
	Update URG parameter.
virtual bool	setTimestamp (int timestamp=0, int response_msec=NULL, int force_delay_msec=NULL)=0
	Sets the timestamp value. Sensor returs this timestamp value.
virtual const char *	what (void) const =0
	Returns internal status.
virtual	~RangeSensor (void)

Detailed Description

Range sensor interface.

Definition at line 26 of file RangeSensor.h.

Constructor & Destructor Documentation

virtual qrk::RangeSensor::~RangeSensor ( void ) [inline, virtual]

Definition at line 29 of file RangeSensor.h.

Member Function Documentation

virtual int qrk::RangeSensor::capture	(	std::vector< long > &	data,
		long *	timestamp
	)			`[pure virtual]`

Get data.

Get data and store it in buffer.

Parameters:

`[out]`	data	Buffer to store data
`[out]`	timestamp	Time stamp

Returns:: Number of data recieved.

Return values:

<0

Receiving failed

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual RangeCaptureMode qrk::RangeSensor::captureMode ( void ) [pure virtual]

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual int qrk::RangeSensor::captureWithIntensity	(	std::vector< long > &	data,
		std::vector< long > &	intensity_data,
		long *	timestamp
	)			`[pure virtual]`

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual bool qrk::RangeSensor::connect	(	const char *	device,
		long	baudrate
	)			`[pure virtual]`

Connection.

Parameters:

`[in]`	device	Connected device name
`[in]`	baudrate	Baudrate

Return values:

	true	Success
	false	Failure

Example

const char device[] = "/dev/ttyACM0";
const long baudrate = 115200;
UrgCtrl sensor;

// Connect to specified device
if (! sensor.connect(device, baudrate)) {
  printf("connect: %s\n", sensor.what());
  exit(1);
}

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual Connection* qrk::RangeSensor::connection ( void ) [pure virtual]

Get connection object.

Returns:: Connection object

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

int qrk::RangeSensor::deg2index ( const int degree ) const [inline]

Angle conversion of data index.

Front of sensor is considered as 0.0 in radians.

Parameters:

[in] degree angle [degree]

Returns:: angle [degree]

See also:: rad2index(), index2rad(), index2deg()

Definition at line 242 of file RangeSensor.h.

virtual void qrk::RangeSensor::disconnect ( void ) [pure virtual]

Disconnect.

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

int qrk::RangeSensor::index2deg ( const int index ) const [inline]

Degree to angle conversion of data index.

Front of sensor is considered as 0.0 in radians.

Parameters:

[in] index Data index

Returns:: angle [degree]

upper view

See also:: index2rad(), rad2index(), deg2index()

Definition at line 211 of file RangeSensor.h.

virtual double qrk::RangeSensor::index2rad ( const int index ) const [pure virtual]

Radian to angle conversion of data index.

Front of sensor is considered as 0.0 in radians.

Parameters:

[in] index Data index

Returns:: angle [radian]

upper view

See also:: index2deg(), rad2index(), deg2index()

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual bool qrk::RangeSensor::isConnected ( void ) const [pure virtual]

Returns connection status.

Return values:

	true	If connected.
	false	if disconnected.

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual long qrk::RangeSensor::maxDistance ( void ) const [pure virtual]

Get valid maximum distance.

Returns:: Valid maximum distance

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual int qrk::RangeSensor::maxScanLines ( void ) const [pure virtual]

Get Max scan index.

Returns:: Max scan index

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual long qrk::RangeSensor::minDistance ( void ) const [pure virtual]

Get valid minimum distance.

Returns:: valid minimum distance

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual RangeSensorParameter qrk::RangeSensor::parameter ( void ) const [pure virtual]

Get URG parameter.

Returns:: URG parameter

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual int qrk::RangeSensor::rad2index ( const double radian ) const [pure virtual]

radian Convert angle in radian to data index

Front of sensor is considered as 0.0 in radians.

Parameters:

[in] radian angle [radian]

Returns:: Data index

See also:: deg2index(), index2rad(), index2deg()

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual long qrk::RangeSensor::recentTimestamp ( void ) const [inline, virtual]

Latest time stamp value.

Returns:: Time stamp value

Reimplemented in qrk::UrgCtrl.

Definition at line 173 of file RangeSensor.h.

virtual int qrk::RangeSensor::scanMsec ( void ) const [pure virtual]

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual void qrk::RangeSensor::setCaptureMode ( RangeCaptureMode mode ) [pure virtual]

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual void qrk::RangeSensor::setConnection ( Connection * con ) [pure virtual]

Specifies the connection object.

Parameters:

[in] con Connection object

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual bool qrk::RangeSensor::setLaserOutput ( bool on ) [pure virtual]

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual void qrk::RangeSensor::setParameter ( const RangeSensorParameter & parameter ) [pure virtual]

Update URG parameter.

Parameters:

[in] parameter data used to update URG parameter

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual bool qrk::RangeSensor::setTimestamp	(	int	timestamp = `0`,
		int *	response_msec = `NULL`,
		int *	force_delay_msec = `NULL`
	)			`[pure virtual]`

Sets the timestamp value. Sensor returs this timestamp value.

Sets the time stamp that can be acquired with capture().

Parameters:

`[in]`	ticks	Set value of time stamp at that time
`[out]`	response_msec	Response time for sending and receiving message [msec]
`[in]`	force_delay_msec	Forced delay

Return values:

	true	Success
	false	Failure

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

virtual const char* qrk::RangeSensor::what ( void ) const [pure virtual]

Returns internal status.

Returns:: String that represent internal status

Example

UrgCtrl sensor;
if (! sensor.connect(device, baudrate)) {
  // Displays error message when connection is failed.
  printf("connect: %s\n", sensor.what());
  exit(1);
}

Implemented in qrk::mUrgCtrl, and qrk::UrgCtrl.

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

RangeSensor.h

qrk::RangeSensor Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation