Interface to a SICK LMS-200 laser range device. More...

#include <ArLMS2xx.h>

Inherited by ArSick.

Public Member Functions
	ArLMS2xx (int laserNumber, const char *name="lms2xx", bool appendLaserNumberToName=true)
	Constructor.

bool	asyncConnect (void)
	Connect to the laser asyncronously. More...

virtual bool	blockingConnect (void)
	Connect to the laser while blocking. More...

virtual bool	disconnect (void)
	Disconnect from the laser. More...

virtual bool	isConnected (void)
	Sees if this is connected to the laser.

virtual bool	isTryingToConnect (void)

virtual void *	runThread (void *arg)
	The internal function used by the ArRangeDeviceThreaded.

virtual void	setDeviceConnection (ArDeviceConnection *conn)
	Sets the device connection.

virtual void	setRobot (ArRobot *robot)

virtual	~ArLMS2xx ()
	Destructor.

Public Member Functions inherited from ArLaser
void	addConnectCB (ArFunctor *functor, int position=50)
	Adds a connect callback.

void	addDisconnectNormallyCB (ArFunctor *functor, int position=50)
	Adds a callback for when disconnect is called while connected.

void	addDisconnectOnErrorCB (ArFunctor *functor, int position=50)
	Adds a callback for when disconnection happens because of an error.

void	addFailedConnectCB (ArFunctor *functor, int position=50)
	Adds a callback for when a connection to the robot is failed.

void	addIgnoreReading (double ignoreReading)
	Adds a degree at which to ignore readings (within 1 degree of nearest integer)

bool	addIgnoreReadings (const char *ignoreReadings)
	Adds a series of degree at which to ignore readings (within 1 degree of nearest integer)

void	addReadingCB (ArFunctor *functor, int position=50)
	Adds a callback that is called whenever a laser reading is processed.

virtual void	applyTransform (ArTransform trans, bool doCumulative=true)
	Applies a transform to the buffers. More...

	ArLaser (int laserNumber, const char *name, unsigned int absoluteMaxRange, bool locationDependent=false, bool appendLaserNumberToName=true)
	Constructor.

bool	canChooseAutoBaud (void)
	Gets if you can choose autoBaud for the laser. More...

bool	canChooseDegrees (void)
	Gets if you can choose the number of degrees. More...

bool	canChooseIncrement (void)
	Gets if you can choose an increment. More...

bool	canChooseReflectorBits (void)
	Gets if you can choose reflectorBits for the laser. More...

bool	canChooseStartingBaud (void)
	Gets if you can choose startingBaud for the laser. More...

bool	canChooseUnits (void)
	Gets if you can choose units for the laser. More...

bool	canSetDegrees (void)
	Sees if this class can set the degrees with doubles or not. More...

bool	canSetIncrement (void)
	Gets if you can set an increment. More...

bool	canSetPowerControlled (void)
	Gets if you can set powerControlled for the laser. More...

bool	chooseAutoBaud (const char *reflectorBits)
	Sets the reflectorBits to one of the choices from getAutoBaudChoices. More...

bool	chooseDegrees (const char *range)
	Sets the range to one of the choices from getDegreesChoices. More...

bool	chooseIncrement (const char *increment)
	Sets the increment to one of the choices from getIncrementChoices. More...

bool	chooseReflectorBits (const char *reflectorBits)
	Sets the reflectorBits to one of the choices from getReflectorBitsChoices. More...

bool	chooseStartingBaud (const char *reflectorBits)
	Sets the reflectorBits to one of the choices from getStartingBaudChoices. More...

bool	chooseUnits (const char *units)
	Sets the units to one of the choices from getUnitsChoices. More...

void	clearIgnoreReadings (void)
	Clears the degrees we ignore readings at.

void	copyReadingCount (const ArLaser *laser)
	Copies the reading count stuff from another laser (for the laser filter)

unsigned int	getAbsoluteMaxRange (void)
	Gets the absolute maximum range on the sensor.

const char *	getAutoBaudChoice (void)
	Gets the reflectorBits that was chosen. More...

std::list< std::string >	getAutoBaudChoices (void)
	Gets the list of reflectorBits choices. More...

const char *	getAutoBaudChoicesString (void)
	Gets a string with the list of reflectorBits choices seperated by \|s. More...

virtual double	getConnectionTimeoutSeconds (void)
	Gets the number of seconds without a response until connection assumed lost. More...

double	getCumulativeCleanDist (void)
	Cumulative readings that are this close to current beams are discarded.

int	getCumulativeCleanInterval (void)
	Cumulative readings are cleaned every this number of milliseconds.

int	getCumulativeCleanOffset (void)
	Gets the offset for cumulative cleaning.

const char *	getDefaultPortType (void)
	Gets the default port type for the laser.

int	getDefaultTcpPort (void)
	Gets the default TCP port for the laser.

const char *	getDegreesChoice (void)
	Gets the range that was chosen. More...

double	getDegreesChoiceDouble (void)
	Gets the range that was chosen as a double. More...

std::list< std::string >	getDegreesChoices (void)
	Gets the list of range choices. More...

std::map< std::string, double >	getDegreesChoicesMap (void)
	Gets the map of degrees choices to what they mean. More...

const char *	getDegreesChoicesString (void)
	Gets a string with the list of degrees choices seperated by \|s. More...

virtual ArDeviceConnection *	getDeviceConnection (void)
	Gets the device connection.

double	getEndDegrees (void)
	Gets the end angle. More...

double	getEndDegreesMax (void)
	Gets the maximum value for the end angle. More...

double	getEndDegreesMin (void)
	Gets the minimum value for the end angle. More...

bool	getFlipped (void)
	Gets if the laser is flipped or not.

const std::set< int > *	getIgnoreReadings (void) const
	Gets the list of readings that we ignore.

double	getIncrement (void)
	Gets the increment. More...

const char *	getIncrementChoice (void)
	Gets the increment that was chosen. More...

double	getIncrementChoiceDouble (void)
	Gets the increment that was chosen as a double. More...

std::list< std::string >	getIncrementChoices (void)
	Gets the list of increment choices. More...

std::map< std::string, double >	getIncrementChoicesMap (void)
	Gets the map of increment choices to what they mean. More...

const char *	getIncrementChoicesString (void)
	Gets a string with the list of increment choices seperated by \|s. More...

double	getIncrementMax (void)
	Gets the increment maximum. More...

double	getIncrementMin (void)
	Gets the increment minimum. More...

ArLog::LogLevel	getInfoLogLevel (void)
	Gets the log level that informational things are logged at.

int	getLaserNumber (void)
	Gets the number of the laser this is.

ArTime	getLastReadingTime (void)
	Gets the time data was last receieved.

bool	getPowerControlled (void)
	Gets if the power is controlled. More...

int	getReadingCount (void)
	Gets the number of laser readings received in the last second.

const char *	getReflectorBitsChoice (void)
	Gets the reflectorBits that was chosen. More...

std::list< std::string >	getReflectorBitsChoices (void)
	Gets the list of reflectorBits choices. More...

const char *	getReflectorBitsChoicesString (void)
	Gets a string with the list of reflectorBits choices seperated by \|s. More...

ArPose	getSensorPosition (void)
	Gets the position of the sensor on the robot.

double	getSensorPositionTh (void)
	Gets the heading of the sensor on the robot.

double	getSensorPositionX (void)
	Gets the X position of the sensor on the robot.

double	getSensorPositionY (void)
	Gets the Y position of the sensor on the robot.

double	getSensorPositionZ (void)
	Gets the Z position of the sensor on the robot (0 is unknown)

double	getStartDegrees (void)
	Gets the start angle. More...

double	getStartDegreesMax (void)
	Gets the maximum value for the start angle. More...

double	getStartDegreesMin (void)
	Gets the minimum value for the start angle. More...

const char *	getStartingBaudChoice (void)
	Gets the reflectorBits that was chosen. More...

std::list< std::string >	getStartingBaudChoices (void)
	Gets the list of reflectorBits choices. More...

const char *	getStartingBaudChoicesString (void)
	Gets a string with the list of reflectorBits choices seperated by \|s. More...

const char *	getUnitsChoice (void)
	Gets the units that was chosen. More...

std::list< std::string >	getUnitsChoices (void)
	Gets the list of units choices. More...

const char *	getUnitsChoicesString (void)
	Gets a string with the list of units choices seperated by \|s. More...

bool	hasSensorPosition (void)
	Gets if the sensor pose has been set.

void	remConnectCB (ArFunctor *functor)
	Adds a disconnect callback.

void	remDisconnectNormallyCB (ArFunctor *functor)
	Removes a callback for when disconnect is called while connected.

void	remDisconnectOnErrorCB (ArFunctor *functor)
	Removes a callback for when disconnection happens because of an error.

void	remFailedConnectCB (ArFunctor *functor)
	Removes a callback for when a connection to the robot is failed.

void	remReadingCB (ArFunctor *functor)
	Removes a callback that is called whenever a laser reading is processed.

void	resetLastCumulativeCleanTime (void)
	Resets when the cumulative cleaning happened (so offset can help)

virtual void	setConnectionTimeoutSeconds (double seconds)
	Sets the numter of seconds without a response until connection assumed lost. More...

virtual void	setCumulativeBufferSize (size_t size)
	override the default to keep track of its been set or not

void	setCumulativeCleanDist (double dist)
	Cumulative readings that are this close to current beams are discarded.

void	setCumulativeCleanInterval (int milliSeconds)
	Cumulative readings are cleaned every this number of milliseconds.

void	setCumulativeCleanOffset (int milliSeconds)
	Offset for cumulative cleaning.

bool	setEndDegrees (double endDegrees)
	Sets the end angle, it must be between getEndDegreesMin and getEndDegreesMax. More...

bool	setFlipped (bool flipped)
	Sets if the laser is flipped or not.

bool	setIncrement (double increment)
	Sets the increment. More...

void	setInfoLogLevel (ArLog::LogLevel infoLogLevel)
	Sets the log level that informational things are logged at.

virtual void	setMaxRange (unsigned int maxRange)
	override the default to bound the maxrange by the absolute max range

bool	setPowerControlled (bool powerControlled)
	Sets if the power is controlled. More...

void	setSensorPosition (double x, double y, double th, double z=0)
	Sets the position of the sensor on the robot.

void	setSensorPosition (ArPose pose, double z=0)
	Sets the position of the sensor on the robot.

bool	setStartDegrees (double startDegrees)
	Sets the start angle, it must be between getStartDegreesMin and getStartDegreesMax. More...

virtual	~ArLaser ()
	Destructor.

Public Member Functions inherited from ArRangeDeviceThreaded
	ArRangeDeviceThreaded (size_t currentBufferSize, size_t cumulativeBufferSize, const char *name, unsigned int maxRange, int maxSecondsTokeepCurrent=0, int maxSecondsToKeepCumulative=0, double maxDistToKeepCumulative=0, bool locationDependent=false)
	Constructor.

virtual bool	getRunning (void)
	Get the running status of the thread.

virtual bool	getRunningWithLock (void)
	Get the running status of the thread, locking around the variable.

virtual int	lockDevice (void)

virtual void	run (void)
	Run in this thread.

virtual void	runAsync (void)
	Run in its own thread.

virtual void	stopRunning (void)
	Stop the thread.

virtual int	tryLockDevice (void)

virtual int	unlockDevice (void)

virtual	~ArRangeDeviceThreaded ()
	Destructor.

Public Member Functions inherited from ArRangeDevice
virtual void	addReading (double x, double y, bool *wasAdded=NULL)
	Adds a reading to the buffer.

	ArRangeDevice (size_t currentBufferSize, size_t cumulativeBufferSize, const char *name, unsigned int maxRange, int maxSecondsToKeepCurrent=0, int maxSecondsToKeepCumulative=0, double maxDistToKeepCumulative=0, bool locationDependent=false)
	Constructor. More...

virtual void	clearCumulativeOlderThan (int milliSeconds)
	Clears all the cumulative readings older than this number of milliseconds.

virtual void	clearCumulativeOlderThanSeconds (int seconds)
	Clears all the cumulative readings older than this number of seconds.

virtual void	clearCumulativeReadings (void)
	Clears all the cumulative readings.

virtual void	clearCurrentReadings (void)
	Clears all the current readings.

virtual double	cumulativeReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
	Gets the closest current reading from the given box region. More...

virtual double	cumulativeReadingPolar (double startAngle, double endAngle, double *angle=NULL) const
	Gets the closest cumulative reading in the given polar region. More...

virtual double	currentReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
	Gets the closest current reading from the given box region. More...

virtual double	currentReadingPolar (double startAngle, double endAngle, double *angle=NULL) const
	Gets the closest current reading in the given polar region. More...

void	filterCallback (void)
	Internal function to filter the readings based on age and distance.

virtual const std::list< ArSensorReading * > *	getAdjustedRawReadings (void) const
	Gets the raw unfiltered readings from the device (but pose takens are corrected) More...

virtual std::vector< ArSensorReading > *	getAdjustedRawReadingsAsVector (void)
	Gets the raw adjusted readings from the device into a vector. More...

virtual const std::list< ArPoseWithTime * > *	getCumulativeBuffer (void) const
	Gets the current buffer of readings. More...

virtual std::list< ArPoseWithTime * > *	getCumulativeBuffer (void)
	Gets the current buffer of readings.

virtual std::vector< ArPoseWithTime > *	getCumulativeBufferAsVector (void)
	Gets the cumulative buffer of readings as a vector. More...

virtual size_t	getCumulativeBufferSize (void) const
	Sets the maximum size of the buffer for cumulative readings.

virtual ArDrawingData *	getCumulativeDrawingData (void)
	Gets data used for visualizing the cumulative buffer (see ArNetworking)

virtual const ArRangeBuffer *	getCumulativeRangeBuffer (void) const
	Gets the cumulative range buffer. More...

virtual ArRangeBuffer *	getCumulativeRangeBuffer (void)
	Gets the cumulative range buffer.

virtual const std::list< ArPoseWithTime * > *	getCurrentBuffer (void) const
	Gets the current buffer of readings. More...

virtual std::list< ArPoseWithTime * > *	getCurrentBuffer (void)
	Gets the current buffer of readings.

virtual std::vector< ArPoseWithTime > *	getCurrentBufferAsVector (void)
	Gets the current buffer of readings as a vector. More...

virtual size_t	getCurrentBufferSize (void) const
	Gets the maximum size of the buffer for current readings.

virtual ArDrawingData *	getCurrentDrawingData (void)
	Gets data used for visualizing the current buffer (see ArNetworking)

virtual const ArRangeBuffer *	getCurrentRangeBuffer (void) const
	Gets the current range buffer. More...

virtual ArRangeBuffer *	getCurrentRangeBuffer (void)
	Gets the current range buffer.

double	getMaxDistToKeepCumulative (void)
	sets the maximum distance cumulative readings can be from current pose More...

double	getMaxInsertDistCumulative (void)
	Gets the maximum distance a cumulative reading can be from the robot and still be inserted. More...

virtual unsigned int	getMaxRange (void) const
	Gets the maximum range for this device.

int	getMaxSecondsToKeepCumulative (void)
	gets the maximum seconds to keep current readings around More...

int	getMaxSecondsToKeepCurrent (void)
	gets the maximum seconds to keep current readings around More...

double	getMinDistBetweenCumulative (void)
	Gets the minimum distance between cumulative readings. More...

double	getMinDistBetweenCurrent (void)
	Gets the minimum distance between current readings. More...

virtual const char *	getName (void) const
	Gets the name of the device.

virtual const std::list< ArSensorReading * > *	getRawReadings (void) const
	Gets the raw unfiltered readings from the device. More...

virtual std::vector< ArSensorReading > *	getRawReadingsAsVector (void)
	Gets the raw unfiltered readings from the device into a vector. More...

virtual ArRobot *	getRobot (void)
	Gets the robot this device is attached to.

bool	isLocationDependent (void)
	Gets if this device is location dependent or not.

virtual void	setCumulativeDrawingData (ArDrawingData *data, bool takeOwnershipOfData)
	Sets data for visualizing the cumulative buffer (and if we own it)

virtual void	setCurrentBufferSize (size_t size)
	Sets the maximum size of the buffer for current readings. More...

virtual void	setCurrentDrawingData (ArDrawingData *data, bool takeOwnershipOfData)
	Sets data for visualizing the current buffer (and if we own it)

void	setMaxDistToKeepCumulative (double maxDistToKeepCumulative)
	sets the maximum distance cumulative readings can be from current pose More...

void	setMaxInsertDistCumulative (double maxInsertDistCumulative)
	Sets the maximum distance a cumulative reading can be from the robot and still be inserted. More...

void	setMaxSecondsToKeepCumulative (int maxSecondsToKeepCumulative)
	gets the maximum seconds to keep cumulative readings around More...

void	setMaxSecondsToKeepCurrent (int maxSecondsToKeepCurrent)
	Sets the maximum seconds to keep current readings around. More...

void	setMinDistBetweenCumulative (double minDistBetweenCumulative)
	Sets the minimum distance between cumulative readings. More...

void	setMinDistBetweenCurrent (double minDistBetweenCurrent)
	Sets the minimum distance between current readings. More...

virtual	~ArRangeDevice ()
	Destructor.

Protected Types
enum	State { STATE_NONE, STATE_INIT, STATE_WAIT_FOR_POWER_ON, STATE_CHANGE_BAUD, STATE_CONFIGURE, STATE_WAIT_FOR_CONFIGURE_ACK, STATE_INSTALL_MODE, STATE_WAIT_FOR_INSTALL_MODE_ACK, STATE_SET_MODE, STATE_WAIT_FOR_SET_MODE_ACK, STATE_START_READINGS, STATE_WAIT_FOR_START_ACK, STATE_CONNECTED }

Protected Member Functions
void	dropConnection (void)

void	failedConnect (void)

bool	finishParams (void)
	Finishes getting the unset parameters from the robot then setting some internal variables that need it.

int	internalConnectHandler (void)
	An internal function, single loop event to connect to laser.

bool	internalConnectSim (void)
	Sends the commands to the sim to start up the connection. More...

bool	internalRunOnRobot (void)
	internal function to runOnRobot so that ArSick can do that while this class won't More...

virtual bool	laserCheckParams (void)

virtual void	laserSetName (const char *name)

void	madeConnection (void)

void	processPacket (ArLMS2xxPacket *packet, ArPose pose, ArPose encoderPose, unsigned int counter, bool deinterlace, ArPose deinterlaceDelta)

void	runOnce (bool lockRobot)

void	sensorInterpCallback (void)

bool	sickGetIsUsingSim (void)
	Internal function that gets whether the laser is simulated or not (just for the old ArSick)

void	sickSetIsUsingSim (bool usingSim)
	Internal function that sets whether the laser is simulated or not (just for the old ArSick)

bool	simPacketHandler (ArRobotPacket *packet)

void	switchState (State state)
	Internal function for switching states.

Protected Member Functions inherited from ArLaser
void	internalBuildChoices (std::map< std::string, double > choices, std::string str, std::list< std::string > *choicesList)

void	internalBuildChoicesString (std::list< std::string > choices, std::string str)

bool	internalCheckChoice (const char check, const char choice, std::list< std::string > choices, const char choicesStr)

bool	internalCheckChoice (const char check, const char choice, std::map< std::string, double > choices, const char choicesStr, double *choiceDouble)

virtual void	internalGotReading (void)

void	internalProcessReading (double x, double y, unsigned int range, bool clean, bool onlyClean)

void	laserAllowAutoBaudChoices (const char *defaultAutoBaudChoice, std::list< std::string > autoBaudChoices)
	Allows setting the auto baud speed to one of a number of choices. More...

void	laserAllowDegreesChoices (const char *defaultDegreesChoice, std::map< std::string, double > degreesChoices)
	Allows setting the degrees the laser uses to one of a number of choices. More...

void	laserAllowIncrementChoices (const char *defaultIncrementChoice, std::map< std::string, double > incrementChoices)
	Allows setting the increment to one of a number of choices. More...

void	laserAllowReflectorBitsChoices (const char *defaultReflectorBitsChoice, std::list< std::string > reflectorBitsChoices)
	Allows setting the reflector bits the laser will use to one of a number of choices. More...

void	laserAllowSetDegrees (double defaultStartDegrees, double startDegreesMin, double startDegreesMax, double defaultEndDegrees, double endDegreesMin, double endDegreesMax)
	Allows setting the degrees the laser uses to anything in a range. More...

void	laserAllowSetIncrement (double defaultIncrement, double incrementMin, double incrementMax)
	Allows setting the increment the laser uses to anything in a range. More...

void	laserAllowSetPowerControlled (bool defaultPowerControlled)
	Allows setting if the power is controlled or not. More...

void	laserAllowStartingBaudChoices (const char *defaultStartingBaudChoice, std::list< std::string > startingBaudChoices)
	Allows setting the starting baud to one of a number of choices. More...

void	laserAllowUnitsChoices (const char *defaultUnitsChoice, std::list< std::string > unitsChoices)
	Allows setting the units the laser will use to one of a number of choices. More...

bool	laserCheckLostConnection (void)
	Returns if the laser has lost connection so that the subclass can do something appropriate. More...

virtual void	laserConnect (void)
	Function for a laser to call when it connects.

virtual void	laserDisconnectNormally (void)
	Function for a laser to call when it disconnects normally.

virtual void	laserDisconnectOnError (void)
	Function for a laser to call when it loses connection.

virtual void	laserFailedConnect (void)
	Function for a laser to call when it fails to connects.

void	laserProcessReadings (void)
	Converts the raw readings into the buffers (needs to be called by subclasses) More...

bool	laserPullUnsetParamsFromRobot (void)
	Pulls the unset params from the robot parameter file.

void	laserSetAbsoluteMaxRange (unsigned int absoluteMaxRange)
	Sets the absolute maximum range on the sensor.

void	laserSetDefaultPortType (const char *defaultPortType)
	Sets the laser's default connection port type.

void	laserSetDefaultTcpPort (int defaultLaserTcpPort)
	Sets the laser's default TCP port.

Protected Member Functions inherited from ArRangeDevice
void	adjustRawReadings (bool interlaced)
	This call should be called by the range device every robot cycle before the range device makes new readings (and even if it isn't adding any that cycle)... More...

Protected Attributes
ArRetFunctorC< bool, ArLMS2xx >	myAriaExitCB

std::list< ArSensorReading * > *	myAssembleReadings

std::list< ArSensorReading * > *	myCurrentReadings

double	myIncrementAmount

bool	myInterlaced

bool	myInterpolation

std::list< ArSensorReading * >::iterator	myIter

ArLMS2xxPacketReceiver	myLMS2xxPacketReceiver

int	myNumReflectorBits

double	myOffsetAmount

ArLMS2xxPacket	myPacket

std::list< ArLMS2xxPacket * >	myPackets

bool	myProcessImmediately

ArFunctorC< ArLMS2xx >	myRobotConnectCB

bool	myRunningOnRobot

ArFunctorC< ArLMS2xx >	mySensorInterpCB

unsigned int	mySimPacketCounter

ArTransform	mySimPacketEncoderTrans

ArRetFunctor1C< bool, ArLMS2xx, ArRobotPacket * >	mySimPacketHandler

ArPose	mySimPacketStart

ArTransform	mySimPacketTrans

bool	myStartConnect

State	myState

ArMutex	myStateMutex

ArTime	myStateStart

unsigned int	myTotalNumReadings

bool	myUseSim

unsigned int	myWhichReading

Protected Attributes inherited from ArLaser
unsigned int	myAbsoluteMaxRange

std::string	myAutoBaudChoice

std::list< std::string >	myAutoBaudChoices

bool	myAutoBaudChoiceSet

std::string	myAutoBaudChoicesString

bool	myCanChooseAutoBaud

bool	myCanChooseDegrees

bool	myCanChooseIncrement

bool	myCanChooseReflectorBits

bool	myCanChooseStartingBaud

bool	myCanChooseUnits

bool	myCanSetDegrees

bool	myCanSetIncrement

bool	myCanSetPowerControlled

ArDeviceConnection *	myConn

ArCallbackList	myConnectCBList

ArMutex	myConnMutex

bool	myCumulativeBufferSizeSet

double	myCumulativeCleanDist

double	myCumulativeCleanDistSquared

int	myCumulativeCleanInterval

int	myCumulativeCleanOffset

ArTime	myCumulativeLastClean

ArCallbackList	myDataCBList

std::string	myDefaultPortType

int	myDefaultTcpPort

std::string	myDegreesChoice

double	myDegreesChoiceDouble

std::map< std::string, double >	myDegreesChoices

bool	myDegreesChoiceSet

std::list< std::string >	myDegreesChoicesList

std::string	myDegreesChoicesString

ArCallbackList	myDisconnectNormallyCBList

ArCallbackList	myDisconnectOnErrorCBList

double	myEndDegrees

double	myEndDegreesMax

double	myEndDegreesMin

bool	myEndDegreesSet

ArCallbackList	myFailedConnectCBList

bool	myFlipped

bool	myFlippedSet

bool	myHaveSensorPose

std::set< int >	myIgnoreReadings

double	myIncrement

std::string	myIncrementChoice

double	myIncrementChoiceDouble

std::map< std::string, double >	myIncrementChoices

bool	myIncrementChoiceSet

std::list< std::string >	myIncrementChoicesList

std::string	myIncrementChoicesString

double	myIncrementMax

double	myIncrementMin

bool	myIncrementSet

ArLog::LogLevel	myInfoLogLevel

int	myLaserNumber

ArTime	myLastReading

bool	myMaxRangeSet

bool	myPowerControlled

bool	myPowerControlledSet

int	myReadingCount

int	myReadingCurrentCount

std::string	myReflectorBitsChoice

std::list< std::string >	myReflectorBitsChoices

bool	myReflectorBitsChoiceSet

std::string	myReflectorBitsChoicesString

bool	myRobotRunningAndConnected

ArPose	mySensorPose

double	mySensorZ

double	myStartDegrees

double	myStartDegreesMax

double	myStartDegreesMin

bool	myStartDegreesSet

std::string	myStartingBaudChoice

std::list< std::string >	myStartingBaudChoices

bool	myStartingBaudChoiceSet

std::string	myStartingBaudChoicesString

time_t	myTimeLastReading

double	myTimeoutSeconds

std::string	myUnitsChoice

std::list< std::string >	myUnitsChoices

bool	myUnitsChoiceSet

std::string	myUnitsChoicesString

Protected Attributes inherited from ArRangeDeviceThreaded
ArRetFunctor1C< void , ArRangeDeviceThreaded, void >	myRunThreadCB

ArFunctorASyncTask	myTask

Protected Attributes inherited from ArRangeDevice
std::list< ArSensorReading * > *	myAdjustedRawReadings

std::vector< ArSensorReading >	myAdjustedRawReadingsVector

ArRangeBuffer	myCumulativeBuffer

ArDrawingData *	myCumulativeDrawingData

ArRangeBuffer	myCurrentBuffer

ArDrawingData *	myCurrentDrawingData

ArMutex	myDeviceMutex

ArFunctorC< ArRangeDevice >	myFilterCB

bool	myIsLocationDependent

double	myMaxDistToKeepCumulative

double	myMaxDistToKeepCumulativeSquared

double	myMaxInsertDistCumulative

ArPose	myMaxInsertDistCumulativePose

double	myMaxInsertDistCumulativeSquared

unsigned int	myMaxRange

int	myMaxSecondsToKeepCumulative

int	myMaxSecondsToKeepCurrent

double	myMinDistBetweenCumulative

double	myMinDistBetweenCumulativeSquared

double	myMinDistBetweenCurrent

double	myMinDistBetweenCurrentSquared

std::string	myName

bool	myOwnCumulativeDrawingData

bool	myOwnCurrentDrawingData

std::list< ArSensorReading * > *	myRawReadings

std::vector< ArSensorReading >	myRawReadingsVector

ArRobot *	myRobot

Additional Inherited Members
Static Public Member Functions inherited from ArLaser
static void	useSimpleNamingForAllLasers (void)
	Makes it so we'll apply simple naming to all the lasers.

Static Protected Attributes inherited from ArLaser
static bool	ourUseSimpleNaming = false

Detailed Description

Interface to a SICK LMS-200 laser range device.

This class processes incoming data from a SICK LMS-200 laser rangefinding device in a background thread, and provides it through the standard ArRangeDevice API, to be used via ArRobot (see ArRobot::addRangeDevice()), used by an ArAction, or used directly.

An ArSick instance must be connected to the laser through a serial port (or simulator): the typical procedure is to allow your ArSimpleConnector to configure the laser based on the robot connection type and command line parameters; then initiate the ArSick background thread; and finally connect ArSick to the laser device. For example:

ArRobot robot;
ArSick laser;
ArSimpleConnector connector(...);
...
 Setup the simple connector and connect to the robot --
 see the example programs.
...
connector.setupLaser(&laser);
laser.runAsync();
if(!laser.blockingConnect())
{
  // Error...
  ...
}
...

The most important methods in this class are the constructor, runAsync(), blockingConnect(), getSensorPosition(), isConnected(), addConnectCB(), asyncConnect(), configure(), in addition to the ArRangeDevice interface.

Note: The "extra int" on the raw readings returned by ArRangeDevice::getRawReadings() is like other laser devices and is the reflectance value, if enabled, ranging between 0 and 255.

ArLMS2xx uses the following buffer parameters by default (see ArRangeDevice documentation):

MinDistBetweenCurrent: 50 mm
MaxDistToKeepCumulative: 6000 mm
MinDistBetweenCumulative: 200 mm
MaxSecondsToKeepCumulative: 30 sec
MaxINsertDistCumulative: 3000 mm

The current buffer is replaced for each new set of readings.

Since: 2.7.0

Member Enumeration Documentation

◆ State

enum ArLMS2xx::State

protected

Enumerator
STATE_NONE	Nothing, haven't tried to connect or anything.
STATE_INIT	Initializing the laser.
STATE_WAIT_FOR_POWER_ON	Waiting for power on.
STATE_CHANGE_BAUD	Change the baud, no confirm here.
STATE_CONFIGURE	Send the width and increment to the laser.
STATE_WAIT_FOR_CONFIGURE_ACK	Wait for the configuration Ack.
STATE_INSTALL_MODE	Switch to install mode.
STATE_WAIT_FOR_INSTALL_MODE_ACK	Wait until its switched to install mode.
STATE_SET_MODE	Set the mode (mm/cm) and extra field bits.
STATE_WAIT_FOR_SET_MODE_ACK	Waiting for set-mode ack.
STATE_START_READINGS	Switch to monitoring mode.
STATE_WAIT_FOR_START_ACK	Waiting for the switch-mode ack.
STATE_CONNECTED	We're connected and getting readings.

Member Function Documentation

◆ asyncConnect()

bool ArLMS2xx::asyncConnect ( void )

virtual

Connect to the laser asyncronously.

This does not lock the laser, but you should lock the laser before you try to connect.

Also note that if you are connecting to the simulator the laser MUST be unlocked so that this can lock the laser and send the commands to the sim. To be connected successfully, either the useSim must be set from configure (and the laser must be connected to a simulator, or this will return true but connection will fail), the device must have been run() or runAsync(), or runOnRobot() used.

Returns: true if a connection will be able to be tried, false otherwise

See also: configure(), ArRangeDeviceThreaded::run(), ArRangeDeviceThreaded::runAsync(), runOnRobot()

Implements ArLaser.

◆ blockingConnect()

bool ArLMS2xx::blockingConnect ( void )

virtual

Connect to the laser while blocking.

Locks this class (using lockDevice()), tries to make a connection, then unlocks.

If connecting to the simulator, then it will commands to the simulator instead of connecting over the configured serial port.

Note: If you have previously locked the laser with lockDevice(), then you must unlock with unlockDevice() before calling this function.; Since the simulated laser uses the robot connection instead of a separate, new connection, this ArLMS2xx object must have been added to the robot using ArRobot::addRangeDevice(), and the robot connection must be connected and running (e.g. in a background thread via ArRobot::runAsync()) for blockingConnect() to be able to successfully connect to the simulator.

Returns: true if a connection was successfully made, false otherwise

Implements ArLaser.

Examples:: gpsRobotTaskExample.cpp, lineFinderExample.cpp, and triangleDriveToActionExample.cpp.

◆ disconnect()

bool ArLMS2xx::disconnect ( void )

virtual

Disconnect from the laser.

Disconnects from the laser.

You should lockDevice the laser before calling this function. Also if you are using the simulator it will lock the robot so it can send the command to the simulator, so you should make sure the robot is unlocked.

Returns: true if it could disconnect from the laser cleanly

Implements ArLaser.

◆ internalConnectSim()

bool ArLMS2xx::internalConnectSim ( void )

protected

Sends the commands to the sim to start up the connection.

Returns: true if the commands were sent, false otherwise

◆ internalRunOnRobot()

bool ArLMS2xx::internalRunOnRobot ( void )

protected

internal function to runOnRobot so that ArSick can do that while this class won't

This alternate method of operation sets up a sensor interpretation task on the robot object, instead of in a background thread.

Note that the device must have been added to the robot already so that the device has a pointer to the robot. You should lock the robot and lockDevice() this laser before calling this if other things are running already.

◆ sensorInterpCallback()

void ArLMS2xx::sensorInterpCallback ( void )

protected

MPL changing this since it seems -1 is left out of everything

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

ArLMS2xx.h
ArLMS2xx.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ State

Member Function Documentation

◆ asyncConnect()

◆ blockingConnect()

◆ disconnect()

◆ internalConnectSim()

◆ internalRunOnRobot()

◆ sensorInterpCallback()