Keep track of recent sonar readings from a robot as an ArRangeDevice. More...

#include <ArSonarDevice.h>

Public Member Functions
virtual void	addReading (double x, double y)
	Adds sonar readings to the current and cumulative buffers Overrides the ArRangeDevice default action. More...

	ArSonarDevice (size_t currentBufferSize=24, size_t cumulativeBufferSize=64, const char *name="sonar")
	Constructor.

ArRetFunctor1< bool, ArPose > *	getIgnoreReadingCB (void)
	Gets the callback which if it returns true will ignore the reading.

void	processReadings (void)
	Grabs the new readings from the robot and adds them to the buffers (Primarily for internal use.)

void	setCumulativeMaxRange (double range)

void	setIgnoreReadingCB (ArRetFunctor1< bool, ArPose > *ignoreReadingCB)
	Sets a callback which if it returns true will ignore the reading.

virtual void	setRobot (ArRobot *robot)
	Sets the robot pointer, also attaches its process function to the robot as a Sensor Interpretation task. More...

virtual	~ArSonarDevice ()
	Destructor.

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

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

	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 int	lockDevice ()
	Lock this device.

virtual void	setCumulativeBufferSize (size_t size)
	Sets the maximum size of the buffer for cumulative readings. More...

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...

virtual void	setMaxRange (unsigned int maxRange)
	Sets the maximum range for this device.

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 int	tryLockDevice ()
	Try to lock this device.

virtual int	unlockDevice ()
	Unlock this device.

virtual	~ArRangeDevice ()
	Destructor.

Protected Attributes
double	myFilterFarDist

double	myFilterNearDist

ArRetFunctor1< bool, ArPose > *	myIgnoreReadingCB

ArFunctorC< ArSonarDevice >	myProcessCB

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
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...

Detailed Description

Keep track of recent sonar readings from a robot as an ArRangeDevice.

This class is for keeping a sonar history, which you may use for obstacle avoidance, display, etc. Simply use ArRobot::addRangeDevice() (or ArSonarDevice::setRobot()) to attach an ArSonarDevice object to an ArRobot robot object; ArSonarDevice will add a Sensor Interpretation task to the ArRobot which will read new sonar readings each robot cycle and add them to its sonar history.

(Note that sonar range readings are from the surface of the sonar transducer disc, not from the center of the robot.)

Examples:: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, demo.cpp, gotoActionExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, robotSyncTaskExample.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

Member Function Documentation

◆ addReading()

void ArSonarDevice::addReading	(	double	x,
		double	y
	)

virtual

Adds sonar readings to the current and cumulative buffers Overrides the ArRangeDevice default action.

Adds a sonar reading with the global coordinates x,y.

(This method is primarily for internal use.)

Makes sure the reading is within the proper distance to the robot, for both current and cumulative buffers. Filters buffer points Note: please lock the device using lockDevice() / unlockDevice() if calling this from outside process().

Parameters

x	the global x coordinate of the reading
y	the global y coordinate of the reading

◆ setCumulativeMaxRange()

void ArSonarDevice::setCumulativeMaxRange ( double range )

inline

Deprecated:

See also: ArRangeDevice::setMaxDistToKeepCumulative()

◆ setRobot()

void ArSonarDevice::setRobot ( ArRobot * robot )

virtual

Sets the robot pointer, also attaches its process function to the robot as a Sensor Interpretation task.

Reimplemented from ArRangeDevice.

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

ArSonarDevice.h
ArSonarDevice.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addReading()

◆ setCumulativeMaxRange()

◆ setRobot()