This class can be used to create log files for the laser mapper. More...

#include <ArLaserLogger.h>

Public Member Functions
void	addGoal (void)
	Adds a goal where the robot is at the moment.

void	addInfoToLog (const char *str,...)
	Adds a string to the log file without a tag for where or when we are. More...

void	addInfoToLogPlain (const char *str)
	Same as addToInfo, but does it without marking robot position. More...

void	addTagToLog (const char *str,...)
	Adds a string to the log file with a tag at the given moment. More...

void	addTagToLogPlain (const char *str)
	Same ass addToLog, but no varargs, wrapper for java. More...

	ArLaserLogger (ArRobot robot, ArLaser laser, double distDiff, double degDiff, const char fileName, bool addGoals=false, ArJoyHandler joyHandler=NULL, const char baseDirectory=NULL, bool useReflectorValues=false, ArRobotJoyHandler robotJoyHandler=NULL, const std::map< std::string, ArRetFunctor3< int, ArTime, ArPose , ArPoseWithTime > , ArStrCaseCmpOp > extraLocationData=NULL, std::list< ArLaser > extraLasers=NULL)
	Constructor. More...

double	getDegDiff (void)
	Gets the degrees to turn at which the robot will take a new reading.

double	getDistDiff (void)
	Gets the distance at which the robot will take a new reading.

void	setDegDiff (double degDiff)
	Sets the degrees to turn at which the robot will take a new reading.

void	setDistDiff (double distDiff)
	Sets the distance at which the robot will take a new reading.

void	takeNewReadings (bool takeNew)
	Sets if we're taking old (scan1:) readings.

void	takeOldReadings (bool takeOld)
	Sets if we're taking old (sick1:) readings.

void	takeReading (void)
	Explicitly tells the robot to take a reading.

bool	takingNewReadings (void)
	Gets if we're taking new (scan1:) readings.

bool	takingOldReadings (void)
	Gets if we're taking old (sick1:) readings.

bool	wasFileOpenedSuccessfully (void)
	Sees if the file was opened successfully.

virtual	~ArLaserLogger ()
	Destructor.

Protected Member Functions
void	goalKeyCallback (void)

void	internalAddGoal (void)

void	internalPrintLaserPoseAndConf (ArLaser *laser, int laserNumber)

void	internalPrintPos (ArPose encoderPoseTaken, ArPose goalPoseTaken, ArTime timeTaken)

void	internalTakeLaserReading (ArLaser *laser, int laserNumber)

void	internalTakeReading (void)

void	internalWriteTags (void)

bool	loopPacketHandler (ArRobotPacket *packet)

void	robotTask (void)
	The task which gets attached to the robot.

Protected Attributes
bool	myAddGoalExplicit

bool	myAddGoalKeyboard

bool	myAddGoals

std::string	myBaseDirectory

double	myDegDiff

double	myDistDiff

std::map< std::string, ArRetFunctor3< int, ArTime, ArPose , ArPoseWithTime > *, ArStrCaseCmpOp >	myExtraLocationData

FILE *	myFile

std::string	myFileName

bool	myFirstGoalTaken

bool	myFirstTaken

ArFunctorC< ArLaserLogger >	myGoalKeyCB

bool	myIncludeRawEncoderPose

std::list< std::string >	myInfos

ArJoyHandler *	myJoyHandler

ArLaser *	myLaser

std::list< ArLaser * >	myLasers

ArPose	myLast

bool	myLastAddGoalKeyboard

ArPose	myLastGoalTakenPose

ArTime	myLastGoalTakenTime

bool	myLastJoyButton

unsigned char	myLastLoops

bool	myLastRobotJoyButton

double	myLastVel

ArRetFunctor1C< bool, ArLaserLogger, ArRobotPacket * >	myLoopPacketHandlerCB

bool	myNewReadings

int	myNumGoal

bool	myOldReadings

ArRobot *	myRobot

ArRobotJoyHandler *	myRobotJoyHandler

int	myScanNumber

ArSectors	mySectors

ArTime	myStartTime

std::list< std::string >	myTags

bool	myTakeReadingExplicit

ArFunctorC< ArLaserLogger >	myTaskCB

bool	myUseReflectorValues

bool	myWrote

Detailed Description

This class can be used to create log files for the laser mapper.

This class has a pointer to a robot and a laser... every time the robot has EITHER moved the distDiff, or turned the degDiff, it will take the current readings from the laser and log them into the log file given as the fileName to the constructor. Readings can also be taken by calling takeReading which explicitly tells the logger to take a reading.

The class can also add goals, see the constructor arg addGoals for information about that... you can also explicitly have it add a goal by calling addGoal.

See also: Laser Scan Log File Format for details on the laser scan log output file format.

Constructor & Destructor Documentation

◆ ArLaserLogger()

ArLaserLogger::ArLaserLogger	(	ArRobot *	robot,
		ArLaser *	laser,
		double	distDiff,
		double	degDiff,
		const char *	fileName,
		bool	addGoals = `false`,
		ArJoyHandler *	joyHandler = `NULL`,
		const char *	baseDirectory = `NULL`,
		bool	useReflectorValues = `false`,
		ArRobotJoyHandler *	robotJoyHandler = `NULL`,
		const std::map< std::string, ArRetFunctor3< int, ArTime, ArPose , ArPoseWithTime > , ArStrCaseCmpOp >	extraLocationData = `NULL`,
		std::list< ArLaser >	extraLasers = `NULL`
	)

Constructor.

Note: The laser must be configured, connected and have read at least one set of data from the laser already (the data received is used to calculate FOV information saved in the .2d); A packet handler will be added for a packet with ID 0x96, but will will not indicate the packet was handled. This will result in warnings printed to the log unless another packet handler handles this packet. ArServerHandlerMapping does this, but standalone use, such as in sickLogger.cpp, does not. This is done so that multiple packet handlers may receive 0x96. (This packet is used for an advanced feature of mapping with some MobileRobots products but which isn't usually needed for must robot maps.)

Parameters

robot	The robot to attach to
laser	the laser to log readings from.
distDiff	the distance traveled at which to take a new reading
degDiff	the degrees turned at which to take a new reading
fileName	the file name in which to put the log
addGoals	whether to add goals automatically. if true then ArLaserLogger adds a handler for the 'g' key to any ArKeyHandler that has been previously created, and will also monitor the robot joystick for the goal button pressed, and register a handler to joyHandler if provided as well.
joyHandler	joystick interface to allow control from a computer joystick, including placing goals with the second joystick button
baseDirectory	directory to place the output file fileName in
useReflectorValues	if true, include laser special-reflectance information
robotJoyHandler	if given, use this as the interface to the robot's own joystick
extraLocationData	if given, place this additional information in the output log file
extraLasers	if given, include data from these lasers in the laser log in addition to the primary laser laser.

Member Function Documentation

◆ addInfoToLog()

void ArLaserLogger::addInfoToLog	(	const char *	str,
			...
	)

Adds a string to the log file without a tag for where or when we are.

The robot MUST be locked before you call this function, so that this function is not adding to a list as the robotTask is using it.

Java and Python Wrappers: Not available in Java or Python wrapper libraries.

This function takes the given tag and puts it into the log file by itself

◆ addInfoToLogPlain()

void ArLaserLogger::addInfoToLogPlain ( const char * str )

Same as addToInfo, but does it without marking robot position.

The robot MUST be locked before you call this function, so that this function is not adding to a list as the robotTask is using it.

This function takes the given tag and puts it into the log file by itself

◆ addTagToLog()

void ArLaserLogger::addTagToLog	(	const char *	str,
			...
	)

Adds a string to the log file with a tag at the given moment.

The robot MUST be locked before you call this function, so that this function is not adding to a list as the robotTask is using it.

Java and Python Wrappers: Not available in Java or Python wrapper libraries.

This function takes the given tag and puts it into the log file along with a tag as to where the robot was and when in the mapping it was

Java and Python Wrappers: Not available in Java or Python wrapper libraries.

See also: addTagToLogPlain()

◆ addTagToLogPlain()

void ArLaserLogger::addTagToLogPlain ( const char * str )

Same ass addToLog, but no varargs, wrapper for java.

The robot MUST be locked before you call this function, so that this function is not adding to a list as the robotTask is using it.

This function takes the given tag and puts it into the log file along with a tag as to where the robot was and when in the mapping it was

◆ internalTakeLaserReading()

void ArLaserLogger::internalTakeLaserReading	(	ArLaser *	laser,
		int	laserNumber
	)

protected

use the adjusted raw readings if we can, otherwise just use the raw readings like before

Note that the the sick1: or scan1: must be the last thing in that timestamp, ie that you should put any other data before it.

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

ArLaserLogger.h
ArLaserLogger.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ArLaserLogger()

Member Function Documentation

◆ addInfoToLog()

◆ addInfoToLogPlain()

◆ addTagToLog()

◆ addTagToLogPlain()

◆ internalTakeLaserReading()