The LaserProxy class is used to control a laser device. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::LaserProxy:

Collaboration diagram for PlayerCc::LaserProxy:

Detailed Description

The LaserProxy class is used to control a laser device.

The latest scan data is held in two arrays: ranges and intensity. The laser scan range, resolution and so on can be configured using the Configure() method.

Public Member Functions
	LaserProxy (PlayerClient *aPc, uint32_t aIndex=0)
	Constructor.

	~LaserProxy ()
	Destructor.

uint32_t	GetCount () const
	Number of points in scan.

double	GetMaxRange () const
	Max range for the latest set of data (meters)

double	GetScanRes () const
	Angular resolution of scan (radians)

double	GetRangeRes () const
	Range resolution of scan (mm)

double	GetScanningFrequency () const
	Scanning Frequency (Hz)

double	GetMinAngle () const
	Scan range for the latest set of data (radians)

double	GetMaxAngle () const
	Scan range for the latest set of data (radians)

double	GetConfMinAngle () const
	Scan range from the laser config (call RequestConfigure first) (radians)

double	GetConfMaxAngle () const
	Scan range from the laser config (call RequestConfigure first) (radians)

bool	IntensityOn () const
	Whether or not reflectance (i.e., intensity) values are being returned.

player_point_2d_t	GetPoint (uint32_t aIndex) const
	Scan data (Cartesian): x,y (m)

double	GetRange (uint32_t aIndex) const
	get the range

double	GetBearing (uint32_t aIndex) const
	get the bearing

int	GetIntensity (uint32_t aIndex) const
	get the intensity

int	GetID () const
	get the laser ID, call RequestId first

void	Configure (double aMinAngle, double aMaxAngle, uint32_t aScanRes, uint32_t aRangeRes, bool aIntensity, double aScanningFrequency)
	Configure the laser scan pattern. More...

void	RequestConfigure ()
	Request the current laser configuration; it is read into the relevant class attributes. More...

void	RequestID ()
	Request the ID of the laser; read it with GetID()

void	RequestGeom ()
	Get the laser's geometry; it is read into the relevant class attributes. More...

player_pose3d_t	GetPose ()
	Accessor for the pose of the laser with respect to its parent object (e.g., a robot). More...

player_pose3d_t	GetRobotPose ()
	Accessor for the pose of the laser's parent object (e.g., a robot). More...

player_bbox3d_t	GetSize ()
	Accessor for the size (fill it in by calling RequestGeom)

double	GetMinLeft () const
	Minimum range reading on the left side.

double	GetMinRight () const
	Minimum range reading on the right side.

double	MinLeft () const

double	MinRight () const

double	operator[] (uint32_t index) const
	Range access operator. More...

Public Member Functions inherited from PlayerCc::ClientProxy
bool	IsValid () const
	Proxy has any information. More...

bool	IsFresh () const
	Check for fresh data. More...

void	NotFresh ()
	Reset Fresh flag. More...

std::string	GetDriverName () const
	Get the underlying driver's name. More...

double	GetDataTime () const
	Returns the received timestamp of the last data sample [s].

double	GetElapsedTime () const
	Returns the time between the current data time and the time of the last data sample [s].

PlayerClient *	GetPlayerClient () const
	Get a pointer to the Player Client. More...

uint32_t	GetIndex () const
	Get device index. More...

uint32_t	GetInterface () const
	Get Interface Code. More...

std::string	GetInterfaceStr () const
	Get Interface Name. More...

void	SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1)
	Set a replace rule for this proxy on the server. More...

int	HasCapability (uint32_t aType, uint32_t aSubtype)
	Request capabilities of device. More...

int	GetBoolProp (char aProperty, bool aValue)
	Request a boolean property. More...

int	SetBoolProp (char *aProperty, bool aValue)
	Set a boolean property. More...

int	GetIntProp (char aProperty, int32_t aValue)
	Request an integer property. More...

int	SetIntProp (char *aProperty, int32_t aValue)
	Set an integer property. More...

int	GetDblProp (char aProperty, double aValue)
	Request a double property. More...

int	SetDblProp (char *aProperty, double aValue)
	Set a double property. More...

int	GetStrProp (char aProperty, char *aValue)
	Request a string property. More...

int	SetStrProp (char aProperty, char aValue)
	Set a string property. More...

template<typename T >
connection_t	ConnectReadSignal (T aSubscriber)
	Connect a read signal to this proxy. More...

void	DisconnectReadSignal (connection_t aSubscriber)
	Disconnect a signal from this proxy. More...

Private Member Functions
void	Subscribe (uint32_t aIndex)

void	Unsubscribe ()

Private Attributes
playerc_laser_t *	mDevice

double	min_angle

double	max_angle

double	scan_res

double	range_res

double	scanning_frequency

bool	intensity

Additional Inherited Members
Public Types inherited from PlayerCc::ClientProxy
typedef int	connection_t

typedef boost::mutex::scoped_lock	scoped_lock_t

typedef int	read_signal_t

Protected Member Functions inherited from PlayerCc::ClientProxy
	ClientProxy (PlayerClient *aPc, uint32_t aIndex)

template<typename T >
T	GetVar (const T &aV) const

template<typename T >
void	GetVarByRef (const T aBegin, const T aEnd, T aDest) const

Protected Attributes inherited from PlayerCc::ClientProxy
PlayerClient *	mPc

playerc_client_t *	mClient

playerc_device_t *	mInfo

bool	mFresh

Member Function Documentation

◆ Configure()

void PlayerCc::LaserProxy::Configure	(	double	aMinAngle,
		double	aMaxAngle,
		uint32_t	aScanRes,
		uint32_t	aRangeRes,
		bool	aIntensity,
		double	aScanningFrequency
	)

Configure the laser scan pattern.

Angles min_angle and max_angle are measured in radians. scan_res is measured in units of 0.01 degrees; valid values are: 25 (0.25 deg), 50 (0.5 deg) and 100 (1 deg). range_res is measured in mm; valid values are: 1, 10, 100. Set intensity to true to enable intensity measurements, or false to disable. scanning_frequency is measured in Hz

◆ GetPose()

player_pose3d_t PlayerCc::LaserProxy::GetPose ( )

inline

Accessor for the pose of the laser with respect to its parent object (e.g., a robot).

Fill it in by calling RequestGeom.

References playerc_laser_t::pose, player_pose3d::px, player_pose3d::py, and player_pose3d::pyaw.

◆ GetRobotPose()

player_pose3d_t PlayerCc::LaserProxy::GetRobotPose ( )

inline

Accessor for the pose of the laser's parent object (e.g., a robot).

Filled in by some (but not all) laser data messages.

References player_pose3d::px, player_pose3d::py, player_pose3d::pyaw, and playerc_laser_t::robot_pose.

◆ MinLeft()

double PlayerCc::LaserProxy::MinLeft ( ) const

inline

Deprecated:: Minimum range reading on the left side

◆ MinRight()

double PlayerCc::LaserProxy::MinRight ( ) const

inline

Deprecated:: Minimum range reading on the right side

◆ operator[]()

double PlayerCc::LaserProxy::operator[] ( uint32_t index ) const

inline

Range access operator.

This operator provides an alternate way of access the range data. For example, given an LaserProxy named lp, the following expressions are equivalent: lp.GetRange(0) and lp[0].

◆ RequestConfigure()

void PlayerCc::LaserProxy::RequestConfigure ( )

Request the current laser configuration; it is read into the relevant class attributes.

◆ RequestGeom()

void PlayerCc::LaserProxy::RequestGeom ( )

Get the laser's geometry; it is read into the relevant class attributes.

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

playerc++.h

Detailed Description

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ Configure()

◆ GetPose()

◆ GetRobotPose()

◆ MinLeft()

◆ MinRight()

◆ operator[]()

◆ RequestConfigure()

◆ RequestGeom()