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 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.
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 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 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, ArUrg >	myAriaExitCB
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< ArUrg >	mySensorInterpTask
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
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

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

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

• ArUrg.h
• ArUrg.cpp