PlayerCc::RangerProxy Class Reference

The RangerProxy class is used to control a ranger device. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::RangerProxy:

Collaboration diagram for PlayerCc::RangerProxy:

Detailed Description

The RangerProxy class is used to control a ranger device.

Public Member Functions
	RangerProxy (PlayerClient *aPc, uint32_t aIndex=0)
	Constructor.
	~RangerProxy ()
	Destructor.
uint32_t	GetElementCount () const
	Return the individual range sensor count.
player_pose3d_t	GetDevicePose () const
	Return the device pose.
player_bbox3d_t	GetDeviceSize () const
	Return the device size.
player_pose3d_t	GetElementPose (uint32_t aIndex) const
	Return the pose of an individual sensor.
player_bbox3d_t	GetElementSize (uint32_t aIndex) const
	Return the size of an individual sensor.
uint32_t	GetRangeCount () const
	Return the number of range readings.
double	GetRange (uint32_t aIndex) const
	Get a range reading.
double	operator[] (uint32_t aIndex) const
	Operator to get a range reading.
uint32_t	GetPointCount () const
	Return the number of point readings.
player_point_3d_t	GetPoint (uint32_t aIndex) const
	Get a point reading.
uint32_t	GetIntensityCount () const
	Return the number of intensity readings.
double	GetIntensity (uint32_t aIndex) const
	Get an intensity reading.
void	SetPower (bool aEnable)
	Turn the device power on or off. More...
void	SetIntensityData (bool aEnable)
	Turn intensity data on or off. More...
void	RequestGeom ()
	Request the ranger geometry.
void	Configure (double aMinAngle, double aMaxAngle, double aAngularRes, double aMinRange, double aMaxRange, double aRangeRes, double aFrequency)
	Configure the ranger scan pattern. More...
void	RequestConfigure ()
	Get the current ranger configuration; it is read into the relevant class attributes. More...
double	GetMinAngle () const
	Start angle of a scan (configured value)
double	GetMaxAngle () const
	Stop angle of a scan (configured value)
double	GetAngularRes () const
	Angular resolution of a scan (configured value)
double	GetMinRange () const
	Minimum detectable range of a scan (configured value)
double	GetMaxRange () const
	Maximum detectable range of a scan (configured value)
double	GetRangeRes () const
	Linear resolution (configured value)
double	GetFrequency () const
	Scanning frequency (configured value)
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_ranger_t *	mDevice

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::RangerProxy::Configure	(	double	aMinAngle,
		double	aMaxAngle,
		double	aAngularRes,
		double	aMinRange,
		double	aMaxRange,
		double	aRangeRes,
		double	aFrequency
	)

Configure the ranger scan pattern.

Angles aMinAngle and aMaxAngle are measured in radians. aResolution is measured in radians. aMinRange, aMaxRange and aRangeRes is measured in metres. aFrequency is measured in Hz.

RequestConfigure()

void PlayerCc::RangerProxy::RequestConfigure

(

)

Get the current ranger configuration; it is read into the relevant class attributes.

SetIntensityData()

void PlayerCc::RangerProxy::SetIntensityData

(

bool

aEnable

)

Turn intensity data on or off.

Set state to true to enable, false to disable.

SetPower()

void PlayerCc::RangerProxy::SetPower

(

bool

aEnable

)

Turn the device power on or off.

Set state to true to enable, false to disable.

---

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

• playerc++.h