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<div class="title">CSickLaserSerial.h</div> </div>
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<a href="_c_sick_laser_serial_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CSickLaserSerial_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CSickLaserSerial_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c2_d_range_finder_abstract_8h.html">mrpt/hwdrivers/C2DRangeFinderAbstract.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_serial_port_8h.html">mrpt/hwdrivers/CSerialPort.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>hwdrivers
<a name="l00037"></a>00037 {<span class="comment"></span>
<a name="l00038"></a>00038 <span class="comment"> /** This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a USB2SERIAL converter).</span>
<a name="l00039"></a>00039 <span class="comment"> * The serial port is opened upon the first call to "doProcess" or "initialize", so you must call "loadConfig" before</span>
<a name="l00040"></a>00040 <span class="comment"> * this, or manually call "setSerialPort". Another alternative is to call the base class method C2DRangeFinderAbstract::bindIO,</span>
<a name="l00041"></a>00041 <span class="comment"> * but the "setSerialPort" interface is probably much simpler to use.</span>
<a name="l00042"></a>00042 <span class="comment"> *</span>
<a name="l00043"></a>00043 <span class="comment"> * For an example of usage see the example in "samples/SICK_laser_serial_test".</span>
<a name="l00044"></a>00044 <span class="comment"> * See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * \code</span>
<a name="l00047"></a>00047 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00048"></a>00048 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00049"></a>00049 <span class="comment"> * [supplied_section_name]</span>
<a name="l00050"></a>00050 <span class="comment"> * COM_port_WIN = COM1 // Serial port to connect to</span>
<a name="l00051"></a>00051 <span class="comment"> * COM_port_LIN = ttyS0</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000</span>
<a name="l00054"></a>00054 <span class="comment"> * mm_mode = 1/0 // 1: millimeter mode, 0:centimeter mode (Default=0)</span>
<a name="l00055"></a>00055 <span class="comment"> * FOV = 180 // Field of view: 100 or 180 degrees (Default=180)</span>
<a name="l00056"></a>00056 <span class="comment"> * resolution = 50 // Scanning resolution, in units of 1/100 degree. Valid values: 25,50,100 (Default=50)</span>
<a name="l00057"></a>00057 <span class="comment"> *</span>
<a name="l00058"></a>00058 <span class="comment"> *</span>
<a name="l00059"></a>00059 <span class="comment"> * pose_x=0.21 // Laser range scaner 3D position in the robot (meters)</span>
<a name="l00060"></a>00060 <span class="comment"> * pose_y=0</span>
<a name="l00061"></a>00061 <span class="comment"> * pose_z=0.34</span>
<a name="l00062"></a>00062 <span class="comment"> * pose_yaw=0 // Angles in degrees</span>
<a name="l00063"></a>00063 <span class="comment"> * pose_pitch=0</span>
<a name="l00064"></a>00064 <span class="comment"> * pose_roll=0</span>
<a name="l00065"></a>00065 <span class="comment"> * \endcode</span>
<a name="l00066"></a>00066 <span class="comment"> *</span>
<a name="l00067"></a>00067 <span class="comment"> * \sa C2DRangeFinderAbstract</span>
<a name="l00068"></a>00068 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00069"></a>00069 <span class="comment"> */</span>
<a name="l00070"></a>00070 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CSickLaserSerial : <span class="keyword">public</span> C2DRangeFinderAbstract
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...">DEFINE_GENERIC_SENSOR</a>(CSickLaserSerial)
<a name="l00073"></a>00073
<a name="l00074"></a>00074 private:
<a name="l00075"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ae0d4030543a72a6ee3cc5e572616fc2c">00075</a> <span class="keywordtype">bool</span> m_mm_mode;
<a name="l00076"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#afa1a3d09e5cc3c4613a2691843f938a6">00076</a> <span class="keywordtype">int</span> m_scans_FOV; <span class="comment">//!< 100 or 180 deg</span>
<a name="l00077"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#acd36ddf29b52a69dddb4f2576c1e7fa4">00077</a> <span class="comment"></span> <span class="keywordtype">int</span> m_scans_res; <span class="comment">//!< 1/100th of deg: 100, 50 or 25</span>
<a name="l00078"></a>00078 <span class="comment"></span><span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** The sensor 6D pose: */</span>
<a name="l00080"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a204584b599c90ced77b8bd645b83ca98">00080</a> poses::<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a> m_sensorPose;
<a name="l00081"></a>00081
<a name="l00082"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ad11dd629bc4f074ce9348d53ee556b7d">00082</a> static <span class="keywordtype">int</span> CRC16_GEN_POL;
<a name="l00083"></a>00083
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordtype">bool</span> tryToOpenComms(std::<span class="keywordtype">string</span> *err_msg=NULL); <span class="comment">//!< Tries to open the com port and setup all the LMS protocol. Returns true if OK or already open.</span>
<a name="l00086"></a>00086 <span class="comment"></span> <span class="keywordtype">bool</span> waitContinuousSampleFrame( std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<span class="keywordtype">float</span>> &ranges, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> &LMS_status, <span class="keywordtype">bool</span> &is_mm_mode );
<a name="l00087"></a>00087
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="keywordtype">bool</span> LMS_setupSerialComms(); <span class="comment">//!< Assures laser is connected and operating at 38400, in its case returns true.</span>
<a name="l00090"></a>00090 <span class="comment"></span> <span class="keywordtype">bool</span> LMS_setupBaudrate(<span class="keywordtype">int</span> baud); <span class="comment">//!< Send a command to change the LMS comms baudrate, return true if ACK is OK. baud can be: 9600, 19200, 38400, 500000</span>
<a name="l00091"></a>00091 <span class="comment"></span> <span class="keywordtype">bool</span> LMS_statusQuery(); <span class="comment">//!< Send a status query and wait for the answer. Return true on OK.</span>
<a name="l00092"></a>00092 <span class="comment"></span> <span class="keywordtype">bool</span> LMS_waitACK(uint16_t timeout_ms); <span class="comment">//!< Returns false if timeout</span>
<a name="l00093"></a>00093 <span class="comment"></span> <span class="keywordtype">bool</span> LMS_waitIncomingFrame(uint16_t timeout); <span class="comment">//!< Returns false if timeout</span>
<a name="l00094"></a>00094 <span class="comment"></span> <span class="keywordtype">bool</span> LMS_sendMeasuringMode_cm_mm(); <span class="comment">//!< Returns false on error</span>
<a name="l00095"></a>00095 <span class="comment"></span> <span class="keywordtype">bool</span> LMS_startContinuousMode();
<a name="l00096"></a>00096 <span class="keywordtype">bool</span> LMS_endContinuousMode();
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keywordtype">bool</span> SendCommandToSICK(const uint8_t *cmd,const uint16_t cmd_len); <span class="comment">//!< Send header+command-data+crc and waits for ACK. Return false on error.</span>
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#acf56eaf7d798ca6efd4e539e2dfbb900">00100</a> uint8_t m_received_frame_buffer[2000];
<a name="l00101"></a>00101
<a name="l00102"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a155aebcdba964cabbd2e9398a529faef">00102</a> std::<span class="keywordtype">string</span> m_com_port; <span class="comment">//!< If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.</span>
<a name="l00103"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ac2146dbe9d5ac4be74ed9cd1759557ec">00103</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a> *m_mySerialPort; <span class="comment">//!< Will be !=NULL only if I created it, so I must destroy it at the end.</span>
<a name="l00104"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ab20ee4c9b1caea9113a6abaffc02a1fb">00104</a> <span class="comment"></span> <span class="keywordtype">int</span> m_com_baudRate; <span class="comment">//!< Baudrate: 9600, 38400, 500000</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a1233ac37b907cfcc0f5f69170be3821f">00105</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m_nTries_connect; <span class="comment">//!< Default = 1</span>
<a name="l00106"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a2078a713bc000637e418c613d62e0147">00106</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m_nTries_current;
<a name="l00107"></a>00107
<a name="l00108"></a>00108 protected:<span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)</span>
<a name="l00110"></a>00110 <span class="comment"> * See hwdrivers::CSickLaserSerial for the possible parameters</span>
<a name="l00111"></a>00111 <span class="comment"> */</span>
<a name="l00112"></a>00112 <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00113"></a>00113 const mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">CConfigFileBase</a> &configSource,
<a name="l00114"></a>00114 const std::<span class="keywordtype">string</span> &iniSection );
<a name="l00115"></a>00115
<a name="l00116"></a>00116 public:<span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Constructor */</span>
<a name="l00118"></a>00118 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html" title="This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser sca...">CSickLaserSerial</a>();
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** Destructor */</span>
<a name="l00121"></a>00121 virtual ~CSickLaserSerial();
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".</span>
<a name="l00124"></a>00124 <span class="comment"> * This is not needed if the configuration is loaded with "loadConfig".</span>
<a name="l00125"></a>00125 <span class="comment"> */</span>
<a name="l00126"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a5983b8c6b4ed4ea54af0096d3aa261a6">00126</a> <span class="keywordtype">void</span> setSerialPort(const std::<span class="keywordtype">string</span> &port) { m_com_port = port; }
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** \sa setSerialPort */</span>
<a name="l00129"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a4419de690af513782a3c22174426e916">00129</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a4419de690af513782a3c22174426e916">getSerialPort</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_com_port; }
<a name="l00130"></a>00130 <span class="comment"></span>
<a name="l00131"></a>00131 <span class="comment"> /** Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.</span>
<a name="l00132"></a>00132 <span class="comment"> * This is not needed if the configuration is loaded with "loadConfig".</span>
<a name="l00133"></a>00133 <span class="comment"> * \sa getBaudRate */</span>
<a name="l00134"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a2825fb1dc6b654bf5b92837493bdf967">00134</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a2825fb1dc6b654bf5b92837493bdf967" title="Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.">setBaudRate</a>(<span class="keywordtype">int</span> baud) {
<a name="l00135"></a>00135 m_com_baudRate = baud;
<a name="l00136"></a>00136 }<span class="comment"></span>
<a name="l00137"></a>00137 <span class="comment"> /** \sa setBaudRate */</span>
<a name="l00138"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a313d6933288717ec0645fb98831a90ea">00138</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a313d6933288717ec0645fb98831a90ea">getBaudRate</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_com_baudRate; }
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false)</span>
<a name="l00142"></a>00142 <span class="comment"> * (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".</span>
<a name="l00143"></a>00143 <span class="comment"> */</span>
<a name="l00144"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a7dcc9c07fd4866677fde9a0904fcb153">00144</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a7dcc9c07fd4866677fde9a0904fcb153" title="Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false) (ca...">setMillimeterMode</a>(<span class="keywordtype">bool</span> mm_mode=<span class="keyword">true</span>) { m_mm_mode = mm_mode; }
<a name="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment"> /** Set the scanning field of view - possible values are 100 or 180 (default)</span>
<a name="l00147"></a>00147 <span class="comment"> * (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".</span>
<a name="l00148"></a>00148 <span class="comment"> */</span>
<a name="l00149"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a269cdcf7dc576930714791374ac8a7fc">00149</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a269cdcf7dc576930714791374ac8a7fc" title="Set the scanning field of view - possible values are 100 or 180 (default) (call prior to 'doProcess')...">setScanFOV</a>(<span class="keywordtype">int</span> fov_degrees) { m_scans_FOV = fov_degrees; }
<a name="l00150"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#aa7f4b9db0fd2b355071c2958d698fc59">00150</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#aa7f4b9db0fd2b355071c2958d698fc59">getScanFOV</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_scans_FOV; }
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg.</span>
<a name="l00153"></a>00153 <span class="comment"> * (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a295f896117842895b47fe9daf10b6072">00155</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a295f896117842895b47fe9daf10b6072" title="Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100...">setScanResolution</a>(<span class="keywordtype">int</span> res_1_100th_degree) { m_scans_res=res_1_100th_degree; }
<a name="l00156"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a87c607f2d156ac45504ea812809e0b00">00156</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a87c607f2d156ac45504ea812809e0b00">getScanResolution</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_scans_res; }
<a name="l00157"></a>00157 <span class="comment"></span>
<a name="l00158"></a>00158 <span class="comment"> /** If performing several tries in ::initialize(), this is the current try loop number. */</span>
<a name="l00159"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#aeaf315d986bd7363f2630af80b49eb99">00159</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#aeaf315d986bd7363f2630af80b49eb99" title="If performing several tries in ::initialize(), this is the current try loop number.">getCurrentConnectTry</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_nTries_current; }
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment"> /** Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.</span>
<a name="l00163"></a>00163 <span class="comment"> * This method will be typically called in a different thread than other methods, and will be called in a timely fashion.</span>
<a name="l00164"></a>00164 <span class="comment"> */</span>
<a name="l00165"></a>00165 <span class="keywordtype">void</span> doProcessSimple(
<a name="l00166"></a>00166 <span class="keywordtype">bool</span> &outThereIsObservation,
<a name="l00167"></a>00167 <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">mrpt::slam::CObservation2DRangeScan</a> &outObservation,
<a name="l00168"></a>00168 <span class="keywordtype">bool</span> &hardwareError );
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="comment"></span>
<a name="l00171"></a>00171 <span class="comment"> /** Set-up communication with the laser.</span>
<a name="l00172"></a>00172 <span class="comment"> * Called automatically by rawlog-grabber.</span>
<a name="l00173"></a>00173 <span class="comment"> * If used manually, call after "loadConfig" and before "doProcess".</span>
<a name="l00174"></a>00174 <span class="comment"> *</span>
<a name="l00175"></a>00175 <span class="comment"> * In this class this method does nothing, since the communications are setup at the first try from "doProcess" or "doProcessSimple".</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a>00177 <span class="keywordtype">void</span> initialize();
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment"> /** Enables the scanning mode (in this class this has no effect).</span>
<a name="l00180"></a>00180 <span class="comment"> * \return If everything works "true", or "false" if there is any error.</span>
<a name="l00181"></a>00181 <span class="comment"> */</span>
<a name="l00182"></a>00182 <span class="keywordtype">bool</span> turnOn();
<a name="l00183"></a>00183 <span class="comment"></span>
<a name="l00184"></a>00184 <span class="comment"> /** Disables the scanning mode (in this class this has no effect).</span>
<a name="l00185"></a>00185 <span class="comment"> * \return If everything works "true", or "false" if there is any error.</span>
<a name="l00186"></a>00186 <span class="comment"> */</span>
<a name="l00187"></a>00187 <span class="keywordtype">bool</span> turnOff();
<a name="l00188"></a>00188
<a name="l00189"></a>00189 }; <span class="comment">// End of class</span>
<a name="l00190"></a>00190
<a name="l00191"></a>00191 } <span class="comment">// End of namespace</span>
<a name="l00192"></a>00192 } <span class="comment">// End of namespace</span>
<a name="l00193"></a>00193
<a name="l00194"></a>00194 <span class="preprocessor">#endif</span>
</pre></div></div>
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