Class CSICKTim561Eth

Inheritance Relationships

Base Type

Class Documentation

class CSICKTim561Eth : public mrpt::hwdrivers::C2DRangeFinderAbstract

Public Functions

CSICKTim561Eth(std::string _ip = std::string("192.168.0.1"), unsigned int _port = 2111)

Constructor. Note that there is default arguments, here you can customize IP Adress and TCP Port of your device

~CSICKTim561Eth() override

Deconstructor. Close communication with the device, and free memory.

virtual void doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) override

This function acquire a laser scan from the device. If an error occurred, hardwareError will be set to true. The new laser scan will be stored in the outObservation argument.

Throws:

This – method throw exception if the frame received from the TIM 561 contain the following bad parameters:

  • Status is not OK

  • Data in the scan aren’t DIST1(may be RSSIx or DIST2).

virtual bool turnOn() override

This method must be called before trying to get a laser scan.

virtual bool turnOff() override

This method could be called manually to stop communication with the device. Method is also called by destructor.

bool rebootDev()

This method could be called manually to reboot the device.

void setSensorPose(const mrpt::poses::CPose3D &_pose)

A method to set the sensor pose on the robot. Equivalent to setting the sensor pose via loading it from a config file.

virtual void doProcess() override

This method must be called periodically. Period depend on the process_rate in the configuration file.

virtual void initialize() override

Initialize the sensor according to the parameters previously read in the configuration file.

Protected Functions

virtual void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override

Load sensor pose on the robot, or keep the default sensor pose.