Classes | |
| class | BuildROSMessageException |
| class | CoherentMonitoringFramesException |
| class | DecryptPasswordException |
| class | Degree |
| Class to model angles in degrees from user's perspective. More... | |
| struct | DiagnosticArea |
| DiagnosticArea Field for MonitoringFrame. More... | |
| struct | DiagnosticInformation |
| DiagnosticInformation Bitfield for DiagnosticArea. More... | |
| class | DiagnosticInformationException |
| class | FetchMonitoringFrameException |
| class | GetROSParameterException |
| struct | InputStateArea |
| InputStateArea Field for MonitoringFrame. More... | |
| struct | LaserScan |
| Class to hold the data for one laserscan without depencies to ROS. More... | |
| struct | LogicalInputs |
| Logical Inputs Field for InputStateArea. More... | |
| struct | MonitoringFrame |
| MonitoringFrame as coming from Laserscanner. More... | |
| struct | OutputStateArea |
| OutputStateArea Field for MonitoringFrame. More... | |
| class | ParseMonitoringFrameException |
| struct | PhysicalInputs |
| Physical Inputs Field for InputStateArea. More... | |
| class | PSENScanFatalException |
| class | PSENscanInternalAngle |
| Class to model angles in PSENscan internal format (tenth of degrees) More... | |
| class | PSENscanUDPInterface |
| Class for the UDP communication with the scanner. More... | |
| class | RosParameterHandler |
| Class for getting ROS-Parameters from the parameter-server. More... | |
| class | ROSScannerNode |
| Class implements a ROS-Node for the PSENscan safety laser scanner. More... | |
| class | Scanner |
| Class for Modeling a PSENscan safety laser scanner. More... | |
| class | ScannerCloseFailed |
| class | ScannerCommunicationInterface |
| Abstract base class for the communication interface with the PSENscan scanner. More... | |
| class | ScannerOpenFailed |
| class | ScannerReadFailed |
| class | ScannerReadTimeout |
| class | ScannerWriteFailed |
| struct | StartMonitoringFrame |
| Frame containing all necessary fields for a Start Monitoring Command. More... | |
| struct | StopMonitoringFrame |
| Frame containing all necessary fields for a Stop Monitoring Command. More... | |
| class | UDPReadTimeoutException |
| class | vScanner |
Functions | |
| static const PSENscanInternalAngle | DEFAULT_ANGLE_END (2750) |
| static const PSENscanInternalAngle | DEFAULT_ANGLE_START (0) |
| static const Degree | DEFAULT_X_AXIS_ROTATION (137.5) |
| double | degToRad (const Degree °) |
| Convert angle in deg to rad. More... | |
| bool | isValidIpAddress (const char *ipAddress) |
| PSENscanInternalAngle const | MAX_SCAN_ANGLE (2750) |
| static const Degree | MAX_X_AXIS_ROTATION (360.0) |
| PSENscanInternalAngle const | MIN_SCAN_ANGLE (0) |
| static const Degree | MIN_X_AXIS_ROTATION (-360.0) |
| std::ostream & | operator<< (std::ostream &os, const Degree °) |
| Define how Degree should behave with stream operator. More... | |
| std::ostream & | operator<< (std::ostream &os, const PSENscanInternalAngle °) |
| Define how PSENscanInternalAngle should behave with stream operator. More... | |
Variables | |
| static const std::string | DEFAULT_FRAME_ID = "scanner" |
| static const std::string | DEFAULT_PUBLISH_TOPIC = "scan" |
| static const uint16_t | DEFAULT_SKIP = 0 |
| uint16_t const | MAX_NUMBER_OF_SAMPLES = 550 |
| constexpr std::chrono::seconds | MIN_FETCH_FRAME_TIMEOUT { std::chrono::seconds(1) } |
| uint32_t const | MONITORING_FRAME_OPCODE = 0xC9 |
| uint16_t const | NUMBER_OF_SAMPLES_FULL_SCAN_MASTER = 2750 |
| unsigned short const | PSEN_SCAN_PORT_READ = 2000 |
| unsigned short const | PSEN_SCAN_PORT_WRITE = 3000 |
| double const | SCAN_TIME = 0.03 |
| uint64_t const | START_MONITORING_FIXED_SEQUENCE = 0x0000000100000001 |
| Fixed sequence for StartMonitoring Frame. More... | |
| uint32_t const | START_MONITORING_OPCODE = htole32(9) |
| Opcode for StartMonitoring Frame. More... | |
| uint32_t const | STOP_MONITORING_OPCODE = htole32(18) |
| Opcode for StopMonitoring Frame. More... | |
| static const uint64_t | TIMEOUT_LOOP_SLEEP_DURATION_MS = 5 |
| typedef struct psen_scan::DiagnosticArea psen_scan::DiagnosticArea |
DiagnosticArea Field for MonitoringFrame.
| typedef struct psen_scan::DiagnosticInformation psen_scan::DiagnosticInformation |
DiagnosticInformation Bitfield for DiagnosticArea.
| typedef struct psen_scan::InputStateArea psen_scan::InputStateArea |
InputStateArea Field for MonitoringFrame.
| typedef struct psen_scan::LaserScan psen_scan::LaserScan |
Class to hold the data for one laserscan without depencies to ROS.
| typedef struct psen_scan::LogicalInputs psen_scan::LogicalInputs |
Logical Inputs Field for InputStateArea.
| typedef struct psen_scan::MonitoringFrame psen_scan::MonitoringFrame |
MonitoringFrame as coming from Laserscanner.
| typedef struct psen_scan::OutputStateArea psen_scan::OutputStateArea |
OutputStateArea Field for MonitoringFrame.
| typedef struct psen_scan::PhysicalInputs psen_scan::PhysicalInputs |
Physical Inputs Field for InputStateArea.
| typedef struct psen_scan::StartMonitoringFrame psen_scan::StartMonitoringFrame |
Frame containing all necessary fields for a Start Monitoring Command.
| typedef struct psen_scan::StopMonitoringFrame psen_scan::StopMonitoringFrame |
Frame containing all necessary fields for a Stop Monitoring Command.
|
static |
End angle of measurement
|
static |
Start angle of measurement
|
static |
Rotation of x-axis around the center.
| double psen_scan::degToRad | ( | const Degree & | deg | ) |
Convert angle in deg to rad.
| deg | angle in degree |
Definition at line 58 of file ros_scanner_node.cpp.
| bool psen_scan::isValidIpAddress | ( | const char * | ipAddress | ) |
Definition at line 33 of file scanner.cpp.
| PSENscanInternalAngle const psen_scan::MAX_SCAN_ANGLE | ( | 2750 | ) |
Highest scan angle in tenth of degree
|
static |
Maximum value for x-axis-rotation parameter
| PSENscanInternalAngle const psen_scan::MIN_SCAN_ANGLE | ( | 0 | ) |
Lowest scan angle in tenth of degree
|
static |
Minimum value for x-axis-rotation parameter
| std::ostream& psen_scan::operator<< | ( | std::ostream & | os, |
| const Degree & | deg | ||
| ) |
Define how Degree should behave with stream operator.
| os | Output Stream |
| deg | Degree |
Definition at line 160 of file psen_scan_internal_angle.cpp.
| std::ostream& psen_scan::operator<< | ( | std::ostream & | os, |
| const PSENscanInternalAngle & | deg | ||
| ) |
Define how PSENscanInternalAngle should behave with stream operator.
| os | Output Stream |
| deg | PSENscanInternalAngle |
Definition at line 342 of file psen_scan_internal_angle.cpp.
|
static |
ROS Frame ID
Definition at line 25 of file default_parameters.h.
|
static |
Topic to publish LaserScan data on
Definition at line 32 of file default_parameters.h.
|
static |
How many incoming frames should be skipped (reduces publish rate)
Definition at line 26 of file default_parameters.h.
| uint16_t const psen_scan::MAX_NUMBER_OF_SAMPLES = 550 |
Maximum number of samples per UDP message from Laserscanner
Definition at line 51 of file scanner_data.h.
| constexpr std::chrono::seconds psen_scan::MIN_FETCH_FRAME_TIMEOUT { std::chrono::seconds(1) } |
Definition at line 31 of file scanner.cpp.
| uint32_t const psen_scan::MONITORING_FRAME_OPCODE = 0xC9 |
Constant 0xC9. Byte order: little endian
Definition at line 50 of file scanner_data.h.
| uint16_t const psen_scan::NUMBER_OF_SAMPLES_FULL_SCAN_MASTER = 2750 |
Number of samples for complete scan for master scanner
Definition at line 56 of file scanner_data.h.
| unsigned short const psen_scan::PSEN_SCAN_PORT_READ = 2000 |
Port from which Laserscanner sends messages
Definition at line 53 of file scanner_data.h.
| unsigned short const psen_scan::PSEN_SCAN_PORT_WRITE = 3000 |
Port on which Laserscanner expects messages
Definition at line 52 of file scanner_data.h.
| double const psen_scan::SCAN_TIME = 0.03 |
Time per scan in seconds
Definition at line 57 of file scanner_data.h.
| uint64_t const psen_scan::START_MONITORING_FIXED_SEQUENCE = 0x0000000100000001 |
Fixed sequence for StartMonitoring Frame.
Byte sequence 1-0-0-0-1-0-0-0
Definition at line 40 of file scanner_data.h.
| uint32_t const psen_scan::START_MONITORING_OPCODE = htole32(9) |
Opcode for StartMonitoring Frame.
0x09 as 32bit Little Endian
Definition at line 32 of file scanner_data.h.
| uint32_t const psen_scan::STOP_MONITORING_OPCODE = htole32(18) |
Opcode for StopMonitoring Frame.
0x12 as 32bit Little Endian
Definition at line 48 of file scanner_data.h.
|
static |
Definition at line 26 of file psen_scan_udp_interface.cpp.