Class CRoboPeakLidar

Defined in File CRoboPeakLidar.h

Inheritance Relationships

Base Type

public mrpt::hwdrivers::C2DRangeFinderAbstract (Class C2DRangeFinderAbstract)

Class Documentation

class CRoboPeakLidar : public mrpt::hwdrivers::C2DRangeFinderAbstract 

Interfaces a Robo Peak LIDAR laser scanner.

See the example “samples/RoboPeakLidar_laser_test” and the application “rawlog-grabber” for a ready-to-use application to gather data from the scanner.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   COM_port_WIN = COM3
   COM_port_LIN = ttyS0
   pose_x=0 // Laser range scaner 3D position in the robot (meters)
   pose_y=0
   pose_z=0
   pose_yaw=0   // Angles in degrees
   pose_pitch=0
   pose_roll=0

   //preview = true // Enable GUI visualization of captured data

   // Optional: Exclusion zones to avoid the robot seeing itself:
   //exclusionZone1_x = 0.20 0.30 0.30 0.20
   //exclusionZone1_y = 0.20 0.30 0.30 0.20

   // Optional: Exclusion zones to avoid the robot seeing itself:
   //exclusionAngles1_ini = 20  // Deg
   //exclusionAngles1_end = 25  // Deg

Note

Class introduced in MRPT 1.2.2

Public Functions

CRoboPeakLidar(): Constructor

~CRoboPeakLidar() override: Destructor: turns the laser off.

virtual void initialize() override: Attempts to connect and turns the laser on. Raises an exception on error.

virtual void doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) override: Specific laser scanner “software drivers” must process here new data from the I/O stream, and, if a whole scan has arrived, return it. This method MUST BE CALLED in a timely fashion by the user to allow the proccessing of incoming data. It can be run in a different thread safely.

void setSerialPort(const std::string &port_name): If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

inline const std::string getSerialPort()

Returns the currently set serial port