Aria  2.8.0
ArUrg Class Reference

Hokuyo Urg laser range device. More...

#include <ArUrg.h>

Inherits ArLaser.

Public Member Functions

 ArUrg (int laserNumber, const char *name="urg")
 Constructor.
 
virtual bool asyncConnect (void)
 
virtual bool blockingConnect (void)
 
virtual bool disconnect (void)
 
virtual bool isConnected (void)
 
virtual bool isTryingToConnect (void)
 
void log (void)
 Logs the information about the sensor.
 
 ~ArUrg ()
 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 ArDeviceConnectiongetDeviceConnection (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.
 
virtual void setDeviceConnection (ArDeviceConnection *conn)
 Sets the device connection.
 
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 ArDrawingDatagetCumulativeDrawingData (void)
 Gets data used for visualizing the cumulative buffer (see ArNetworking)
 
virtual const ArRangeBuffergetCumulativeRangeBuffer (void) const
 Gets the cumulative range buffer. More...
 
virtual ArRangeBuffergetCumulativeRangeBuffer (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 ArDrawingDatagetCurrentDrawingData (void)
 Gets data used for visualizing the current buffer (see ArNetworking)
 
virtual const ArRangeBuffergetCurrentRangeBuffer (void) const
 Gets the current range buffer. More...
 
virtual ArRangeBuffergetCurrentRangeBuffer (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 ArRobotgetRobot (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 Member Functions

void clear (void)
 
void failedToConnect (void)
 
bool internalConnect (void)
 
bool internalGetReading (void)
 
virtual bool laserCheckParams (void)
 
virtual void laserSetName (const char *name)
 
bool readLine (char *buf, unsigned int size, unsigned int msWait)
 internal call to read a string from the urg
 
virtual void * runThread (void *arg)
 
bool sendCommandAndRecvStatus (const char *command, const char *commandDesc, char *status, unsigned int size, unsigned int msWait)
 internal call to write a command and get the response back into the buf
 
void sensorInterp (void)
 
bool setParams (double startingDegrees=-135, double endingDegrees=135, double incrementDegrees=1, bool flipped=false)
 Sets the parameters that control what data you get from the urg.
 
bool setParamsBySteps (int startingStep=0, int endingStep=768, int clusterCount=3, bool flipped=false)
 Sets the parameters that control what data you get from the urg. More...
 
virtual void setRobot (ArRobot *robot)
 
bool writeLine (const char *str)
 internal call to write a string to the urg
 
- 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, ArUrgmyAriaExitCB
 
int myClusterCount
 
double myClusterMiddleAngle
 
ArMutex myDataMutex
 
int myEndingStep
 
std::string myFirmwareVersion
 
bool myFlipped
 
bool myIsConnected
 
bool myLogMore
 
std::string myProduct
 
std::string myProtocolVersion
 
std::string myReading
 
ArMutex myReadingMutex
 
ArTime myReadingRequested
 
char myRequestString [1024]
 
ArFunctorC< ArUrgmySensorInterpTask
 
std::string mySerialNumber
 
bool myStartConnect
 
int myStartingStep
 
std::string myStat
 
bool myTryingToConnect
 
std::string myVendor
 
- 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
 
ArDeviceConnectionmyConn
 
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< ArSensorReadingmyAdjustedRawReadingsVector
 
ArRangeBuffer myCumulativeBuffer
 
ArDrawingDatamyCumulativeDrawingData
 
ArRangeBuffer myCurrentBuffer
 
ArDrawingDatamyCurrentDrawingData
 
ArMutex myDeviceMutex
 
ArFunctorC< ArRangeDevicemyFilterCB
 
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< ArSensorReadingmyRawReadingsVector
 
ArRobotmyRobot
 

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

Hokuyo Urg laser range device.

Connects using the Urg's serial port connector (not USB). Supports URG-04LX using SCIP 1.1 protocol only. See ArLaserConnector for instructions on using lasers in a program.

See also
ArUrg_2_0
ArLaserConnector
ArLaser
Since
2.7.0

Member Function Documentation

◆ internalConnect()

bool ArUrg::internalConnect ( void  )
protected

MPL put this in instead of the following because of the behavior change of readline

◆ setParamsBySteps()

bool ArUrg::setParamsBySteps ( int  startingStep = 0,
int  endingStep = 768,
int  clusterCount = 3,
bool  flipped = false 
)
protected

Sets the parameters that control what data you get from the urg.

FLIPPED


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