qrk::mUrgCtrl Class Reference

モニタ対応の URG 制御 More...

#include <mUrgCtrl.h>

Inheritance diagram for qrk::mUrgCtrl:

Public Types
enum	{ DefaultBaudrate = 115200, Infinity = 0 }
	オプション用パラメータ More...
Public Member Functions
int	capture (std::vector< long > &data, long *timestamp=NULL)
	Get data.
RangeCaptureMode	captureMode (void)
int	captureWithIntensity (std::vector< long > &data, std::vector< long > &intensity_data, long *timestamp=NULL)
bool	connect (const char *device, long baudrate=DefaultBaudrate)
	Connection.
Connection *	connection (void)
	Get connection object.
void	disconnect (void)
	Disconnect.
double	index2rad (const int index) const
	Radian to angle conversion of data index.
bool	isConnected (void) const
	Returns connection status.
bool	loadParameter (void)
long	maxDistance (void) const
	Get valid maximum distance.
int	maxScanLines (void) const
	Get Max scan index.
long	minDistance (void) const
	Get valid minimum distance.
	mUrgCtrl (int argc, char *argv[])
	コンストラクタ
RangeSensorParameter	parameter (void) const
	Get URG parameter.
int	rad2index (const double radian) const
	radian Convert angle in radian to data index
void	reboot (void)
size_t	remainCaptureTimes (void)
void	reset (void)
int	scanMsec (void) const
void	setCaptureFrameInterval (size_t interval)
void	setCaptureMode (RangeCaptureMode mode)
void	setCaptureRange (int begin_index, int end_index)
void	setCaptureSkipLines (size_t skip_lines)
void	setCaptureTimes (size_t times)
void	setConnection (Connection *con)
	Specifies the connection object.
bool	setLaserOutput (bool on)
void	setParameter (const RangeSensorParameter &parameter)
	Update URG parameter.
void	setRetryTimes (size_t times)
bool	setTimestamp (int ticks=0, int response_msec=NULL, int force_delay_msec=NULL)
	Sets the timestamp value. Sensor returs this timestamp value.
void	stop (void)
bool	versionLines (std::vector< std::string > &lines)
const char *	what (void) const
	Returns internal status.
	~mUrgCtrl (void)
Private Member Functions
	mUrgCtrl (const mUrgCtrl &rhs)
	mUrgCtrl (void)
mUrgCtrl &	operator= (const mUrgCtrl &rhs)
Private Attributes
std::auto_ptr< pImpl >	pimpl

Detailed Description

モニタ対応の URG 制御

Definition at line 18 of file mUrgCtrl.h.

Member Enumeration Documentation

anonymous enum

オプション用パラメータ

Enumerator:

DefaultBaudrate	接続時のデフォルトボーレート
Infinity	無限回のデータ取得

Definition at line 26 of file mUrgCtrl.h.

Constructor & Destructor Documentation

qrk::mUrgCtrl::mUrgCtrl ( void ) [private]

qrk::mUrgCtrl::mUrgCtrl ( const mUrgCtrl & rhs ) [private]

qrk::mUrgCtrl::mUrgCtrl	(	int	argc,
		char *	argv[]
	)			`[explicit]`

コンストラクタ

動作モードを指定する

Record モード (-r 指定)
- 取得データをログファイルに書き出す

Play モード (-p 指定)
- ログファイルのデータを取得データとして扱う

使用例

// プログラム実行時の引数に -r, -p を指定することで動作が変わる。
//
// % ./a.exe -r    データを取得しつつ、記録する
// % ./a.exe -p    記録済みのデータを再生する
//
// ただし、記録時と再生時では同じプログラムを使うこと。

#include <mUrgCtrl.h>

using namespace qrk;
using namespace std;


int main(int argc, char *argv[])
{
  mUrgCtrl urg(argc, argv);

  if (! urg.connect("COM4")) {
    ...
  }

  long timestamp = 0;
  vector<long> data;
  urg.capture(data, &timestamp);

  ...
}

See also:: UrgCtrl

qrk::mUrgCtrl::~mUrgCtrl ( void )

Member Function Documentation

int qrk::mUrgCtrl::capture	(	std::vector< long > &	data,
		long *	timestamp = `NULL`
	)			`[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

Implements qrk::RangeSensor.

RangeCaptureMode qrk::mUrgCtrl::captureMode ( void ) [virtual]

Implements qrk::RangeSensor.

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

Implements qrk::RangeSensor.

bool qrk::mUrgCtrl::connect	(	const char *	device,
		long	baudrate = `DefaultBaudrate`
	)			`[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);
}

Implements qrk::RangeSensor.

Connection* qrk::mUrgCtrl::connection ( void ) [virtual]

Get connection object.

Returns:: Connection object

Implements qrk::RangeSensor.

void qrk::mUrgCtrl::disconnect ( void ) [virtual]

Disconnect.

Implements qrk::RangeSensor.

double qrk::mUrgCtrl::index2rad ( const int index ) const [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()

Implements qrk::RangeSensor.

bool qrk::mUrgCtrl::isConnected ( void ) const [virtual]

Returns connection status.

Return values:

	true	If connected.
	false	if disconnected.

Implements qrk::RangeSensor.

bool qrk::mUrgCtrl::loadParameter ( void )

long qrk::mUrgCtrl::maxDistance ( void ) const [virtual]

Get valid maximum distance.

Returns:: Valid maximum distance

Implements qrk::RangeSensor.

int qrk::mUrgCtrl::maxScanLines ( void ) const [virtual]

Get Max scan index.

Returns:: Max scan index

Implements qrk::RangeSensor.

long qrk::mUrgCtrl::minDistance ( void ) const [virtual]

Get valid minimum distance.

Returns:: valid minimum distance

Implements qrk::RangeSensor.

mUrgCtrl& qrk::mUrgCtrl::operator= ( const mUrgCtrl & rhs ) [private]

RangeSensorParameter qrk::mUrgCtrl::parameter ( void ) const [virtual]

Get URG parameter.

Returns:: URG parameter

Implements qrk::RangeSensor.

int qrk::mUrgCtrl::rad2index ( const double radian ) const [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()

Implements qrk::RangeSensor.

void qrk::mUrgCtrl::reboot ( void )

size_t qrk::mUrgCtrl::remainCaptureTimes ( void )

void qrk::mUrgCtrl::reset ( void )

int qrk::mUrgCtrl::scanMsec ( void ) const [virtual]

Implements qrk::RangeSensor.

void qrk::mUrgCtrl::setCaptureFrameInterval ( size_t interval )

void qrk::mUrgCtrl::setCaptureMode ( RangeCaptureMode mode ) [virtual]

Implements qrk::RangeSensor.

void qrk::mUrgCtrl::setCaptureRange	(	int	begin_index,
		int	end_index
	)

void qrk::mUrgCtrl::setCaptureSkipLines ( size_t skip_lines )

void qrk::mUrgCtrl::setCaptureTimes ( size_t times )

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

Specifies the connection object.

Parameters:

[in] con Connection object

Implements qrk::RangeSensor.

bool qrk::mUrgCtrl::setLaserOutput ( bool on ) [virtual]

Implements qrk::RangeSensor.

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

Update URG parameter.

Parameters:

[in] parameter data used to update URG parameter

Implements qrk::RangeSensor.

void qrk::mUrgCtrl::setRetryTimes ( size_t times )

bool qrk::mUrgCtrl::setTimestamp	(	int	timestamp = `0`,
		int *	response_msec = `NULL`,
		int *	force_delay_msec = `NULL`
	)			`[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

Implements qrk::RangeSensor.

void qrk::mUrgCtrl::stop ( void )

bool qrk::mUrgCtrl::versionLines ( std::vector< std::string > & lines )

const char* qrk::mUrgCtrl::what ( void ) const [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);
}

Implements qrk::RangeSensor.

Member Data Documentation

std::auto_ptr<pImpl> qrk::mUrgCtrl::pimpl [private]

Definition at line 19 of file mUrgCtrl.h.

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

mUrgCtrl.h

qrk::mUrgCtrl Class Reference

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation