<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>mrpt::hwdrivers::CPtuHokuyo Class Reference</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1hwdrivers.html">hwdrivers</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html">CPtuHokuyo</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="summary">
<a href="#nested-classes">Classes</a> |
<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> |
<a href="#pro-methods">Protected Member Functions</a> |
<a href="#pro-attribs">Protected Attributes</a> |
<a href="#pri-methods">Private Member Functions</a> </div>
<div class="headertitle">
<div class="title">mrpt::hwdrivers::CPtuHokuyo Class Reference</div> </div>
</div>
<div class="contents">
<!-- doxytag: class="mrpt::hwdrivers::CPtuHokuyo" --><!-- doxytag: inherits="mrpt::hwdrivers::CGenericSensor" -->
<p><code>#include <<a class="el" href="_c_ptu_hokuyo_8h_source.html">mrpt/hwdrivers/CPtuHokuyo.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CPtuHokuyo:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_ptu_hokuyo_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_ptu_hokuyo_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_ptu_hokuyo_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe..." alt="" coords="5,80,221,107"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_uncopiable.html" title="The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera..." alt="" coords="32,5,195,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo_1_1my__pos.html">my_pos</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> { <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2caba0e2689514dd41d48164e021013549a44">ssInitializing</a> = 0,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489">ssWorking</a>,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2caba8f76c8318736df85b6805ca460f8d262">ssError</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The current state of the sensor. <a href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1multimap.html">std::multimap</a><br class="typebreak"/>
< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">TListObservations</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::pair<br class="typebreak"/>
< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a78712e0c40c510978fb8589774056ab3">TListObsPair</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#afbd030515b9ddddec5cac0634b518af8">CPtuHokuyo</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#afbd030515b9ddddec5cac0634b518af8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#afd1ba36255edae311dbb63df6bee2212">~CPtuHokuyo</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor, delete observations of the vector. <a href="#afd1ba36255edae311dbb63df6bee2212"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a9f0398cf76ce9e5b7a5e7f0385b2657a">init</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &portPtu, const <a class="el" href="classstd_1_1string.html">std::string</a> &portHokuyo)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialization of laser and ptu. <a href="#a9f0398cf76ce9e5b7a5e7f0385b2657a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ac45b05009c671d798c2443ae463a042a">scan</a> (char &axis, const int &tWait, double &initial, double &final, const double &radPre, const int &mean, const bool &interlaced=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a complete scan. <a href="#ac45b05009c671d798c2443ae463a042a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a88dc6ba72f0404f70a1869d59d619437">continuousScan</a> (char &axis, const double &velocity, double &initial, double &final)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a continuous scan. <a href="#a88dc6ba72f0404f70a1869d59d619437"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a874ae55bd37772bc25113e35d717e41d">saveVObs2File</a> (char *fname="Data.rawlog")</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Show a graphic with the points obtained from the scan or a map. <a href="#a874ae55bd37772bc25113e35d717e41d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ad1dd9d803df4e16107d41f912f684568">saveVObsPoints2File</a> (char *fname="Data.pts", const bool &colours=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save vector points of observations into a simple file. <a href="#ad1dd9d803df4e16107d41f912f684568"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ad4a05498d698bd3fe544e9ff2fb83765">savePitchAndDistances2File</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save pitchs and raw distances of all scans. <a href="#ad4a05498d698bd3fe544e9ff2fb83765"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a2de3940e0296e55a6a7e5f281d9a5697">setHigh</a> (const double &newHigh)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Method for limit map points obtained from a scan. <a href="#a2de3940e0296e55a6a7e5f281d9a5697"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#af7d41a2121ad7a7eb26b792bfe4b70d5">obtainObs</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> &obs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Obtain a observation from the laser. <a href="#af7d41a2121ad7a7eb26b792bfe4b70d5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a0adb0eea57c2260c11004984fc0e3202">initialize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method can or cannot be implemented in the derived class, depending on the need for it. <a href="#a0adb0eea57c2260c11004984fc0e3202"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#adb08ac5e2b6209afdc88cae6058311ea">doProcess</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method will be invoked at a minimum rate of "process_rate" (Hz) </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
</table>
</dd>
</dl>
<a href="#adb08ac5e2b6209afdc88cae6058311ea"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html">mrpt::hwdrivers::TSensorClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#afbc26c93b989d1a0cc94c0c88d47cdba">GetRuntimeClass</a> () const =0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a0bd667caedc6a313d96c232bf75ba577">getState</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The current state of the sensor. <a href="#a0bd667caedc6a313d96c232bf75ba577"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a8a05c268aef7ecada94a0014a2b294f7">getProcessRate</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af3cd061ca684e7ddf5949ed78fced7c9">getSensorLabel</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a044c1340c4b90957250f63fa89189036">setSensorLabel</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &sensorLabel)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f34c5b79a128d1cb6b47eaa987ecb51">loadConfig</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &configSource, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads the generic settings common to any sensor (See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...">CGenericSensor</a>), then call to "loadConfig_sensorSpecific" </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. </td></tr>
</table>
</dd>
</dl>
<a href="#a6f34c5b79a128d1cb6b47eaa987ecb51"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a34b2a73792cbe176b28c932646bba0ed">getObservations</a> (<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">TListObservations</a> &lstObjects)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a list of enqueued objects, emptying it (thread-safe). <a href="#a34b2a73792cbe176b28c932646bba0ed"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#afa55ff06dbf360c8f631d371d6ebe35d">setPathForExternalImages</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &directory)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). <a href="#afa55ff06dbf360c8f631d371d6ebe35d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aff4b208b901763557196b9326901c582">setExternalImageFormat</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &ext)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". <a href="#aff4b208b901763557196b9326901c582"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aca05f7ee991ee112b5e9f8f289a9ee94">setExternalImageJPEGQuality</a> (const unsigned int quality)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The quality of JPEG compression, when external images is enabled and the format is "jpg". <a href="#aca05f7ee991ee112b5e9f8f289a9ee94"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a9d5aecec9f302feede271c9f1425a323">getExternalImageJPEGQuality</a> () const </td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a640e1b953865c3d2e881bbd2c1a81428">registerClass</a> (const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html">TSensorClassId</a> *pNewClass)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Register a class into the internal list of "CGenericSensor" descendents. <a href="#a640e1b953865c3d2e881bbd2c1a81428"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html">CGenericSensor</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab652d017225fff3050a607f4461b0484">createSensor</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &className)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates a sensor by a name of the class. <a href="#ab652d017225fff3050a607f4461b0484"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aff4e4450e420bf60a2487ab0cff91907">createSensorPtr</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &className)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Just like createSensor, but returning a smart pointer to the newly created sensor object. <a href="#aff4e4450e420bf60a2487ab0cff91907"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_hokuyo_u_r_g.html">CHokuyoURG</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ac319b684786f6747c7d5fc435c7fba8b">laser</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html">CPtuBase</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a64665a3521a522f47028ca405674711a">ptu</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ad05c22c9b5b084ac865dd3296ceac3c0">m_ptu_type</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specify type of ptu. <a href="#ad05c22c9b5b084ac865dd3296ceac3c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#aa2d7183d421d969cd3b0f54d9b1275dc">vObs</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ae4c83a6e3a51271abcc18dee13d26932">high</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a><br class="typebreak"/>
< <a class="el" href="structmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo_1_1my__pos.html">mrpt::hwdrivers::CPtuHokuyo::my_pos</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a07ea31267673d43dee97b9d7468057cf">v_my_pos</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a39d045a309d385ea341e2609fbe34417">v_ptu_pos</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a6064fab490f1af257831a43f9b7971e3">v_ptu_time</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a4cdc1f3e8a2bdffb5d70fc73a7b8632b">loadConfig_sensorSpecific</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &configSource, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see <a class="el" 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...">utils::CConfigFileBase</a> and derived classes) </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value. </td></tr>
</table>
</dd>
</dl>
<a href="#a4cdc1f3e8a2bdffb5d70fc73a7b8632b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ad3a33098f257c379ee6bd1bca24e45f9">appendObservations</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. <a href="#ad3a33098f257c379ee6bd1bca24e45f9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a03bf6784838d6418f4fe485933a1ab0c">appendObservation</a> (const <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Like <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ad3a33098f257c379ee6bd1bca24e45f9" title="This method must be called by derived classes to enqueue a new observation in the list to be returned...">appendObservations()</a> but for just one observation. <a href="#a03bf6784838d6418f4fe485933a1ab0c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a5edbfdfe3b92d15ed045f644ccafebce">m_ptu_port</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#abc7d1c5862149513f248b7b69d95337b">m_axis</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a2e86bf5dc33502e13a04c44b7cb81a6e">m_velocity</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#aacc0c367127cdd208a8051ebf25b14c0">m_initial</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ab6ee27e5f38991f885659a7087322dc0">m_final</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a86dcbe4154d8b47d11ed08727ceb7f10">m_hokuyo_frec</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a564a6c2bc7f1baaea9a9d90112a7b376">m_grab_decimation_counter</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used when "m_grab_decimation" is enabled. <a href="#a564a6c2bc7f1baaea9a9d90112a7b376"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab3e8a003783acd03bfd64716640fd67c">m_state</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a06fe84426b813b9c1966c12bb69e6ee6">m_path_for_external_images</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The path where to save off-rawlog images: empty means save images embedded in the rawlog. <a href="#a06fe84426b813b9c1966c12bb69e6ee6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a7d153c5247b0180b6b9df5054d67b183">m_external_images_format</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The extension ("jpg","gif","png",...) that determines the format of images saved externally. <a href="#a7d153c5247b0180b6b9df5054d67b183"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aeac331931fce4890793cd7f1b5f6eb3e">m_external_images_jpeg_quality</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For JPEG images, the quality (default=95%). <a href="#aeac331931fce4890793cd7f1b5f6eb3e"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Common settings to any sensor, loaded in "loadConfig"</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a77094b791971e8f42b94de34f4adb0f7">m_process_rate</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...">CGenericSensor</a>. <a href="#a77094b791971e8f42b94de34f4adb0f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f35448579bd4d27cd4f4685b31a8cc0">m_max_queue_len</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...">CGenericSensor</a>. <a href="#a6f35448579bd4d27cd4f4685b31a8cc0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a587daaab2cb302eb4cc72eb1396d5f21">m_grab_decimation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to N>=2, only 1 out of N observations will be saved to m_objList. <a href="#a587daaab2cb302eb4cc72eb1396d5f21"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#accd4de8daeb5966c191fbc62a5d90355">m_sensorLabel</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...">CGenericSensor</a>. <a href="#accd4de8daeb5966c191fbc62a5d90355"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ac0c6d853af7cbdf87448df40cf83093d">saveObservation</a> (const char &axis, const int &mean)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save a observation from the laser into a vector of observations, calculating sensor position. <a href="#ac0c6d853af7cbdf87448df40cf83093d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a8d4fe9ec5374b201ff413df712241cff">singleScan</a> (const char &axis, const int &tWait, const int &movements, const double &radPre, const int &mean)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a simple scan. <a href="#a8d4fe9ec5374b201ff413df712241cff"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a559147e7ad272b37135d20693cc00151">minLengthVectors</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> &obs, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> > &vObsAux)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculate minimum lenght of scan vectors. <a href="#a559147e7ad272b37135d20693cc00151"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ab54490e002bc19d389a7658762493211">minLengthVectors</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> &obs1, <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> &obs2, const int &mode)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculate minimum lenght of 2 scan vectors. <a href="#ab54490e002bc19d389a7658762493211"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a3bf27da651e5b8b87e8c7df39f5fdcae">refineVObs</a> (const char &axis)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load observations in a points map. <a href="#a3bf27da651e5b8b87e8c7df39f5fdcae"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a6cd6b1201c6a63516364b90d3c2cbc18">calculateSensorPose</a> (const char &axis, const double &pos, <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> &obs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculate the sensor pose depending teh axis of movements and the ptu position. <a href="#a6cd6b1201c6a63516364b90d3c2cbc18"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a9d58dfe3511b727f5cbf1aca4d92cfa4">obsPosition</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Obtain position of observations between first and second position in m_my_pos map. <a href="#a9d58dfe3511b727f5cbf1aca4d92cfa4"></a><br/></td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="af237beee1de7f3e5733e305921695b30"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::TListObservations" ref="af237beee1de7f3e5733e305921695b30" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="classstd_1_1multimap.html">std::multimap</a>< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">mrpt::hwdrivers::CGenericSensor::TListObservations</a><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00084">84</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a78712e0c40c510978fb8589774056ab3"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::TListObsPair" ref="a78712e0c40c510978fb8589774056ab3" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef std::pair< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a78712e0c40c510978fb8589774056ab3">mrpt::hwdrivers::CGenericSensor::TListObsPair</a><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00085">85</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2cab"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::TSensorState" ref="a44262a8f1ffcc87871fbd717d3fc2cab" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">enum <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">mrpt::hwdrivers::CGenericSensor::TSensorState</a><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The current state of the sensor. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a0bd667caedc6a313d96c232bf75ba577" title="The current state of the sensor.">CGenericSensor::getState</a> </dd></dl>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2caba0e2689514dd41d48164e021013549a44"></a><!-- doxytag: member="ssInitializing" ref="a44262a8f1ffcc87871fbd717d3fc2caba0e2689514dd41d48164e021013549a44" args="" -->ssInitializing</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489"></a><!-- doxytag: member="ssWorking" ref="a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489" args="" -->ssWorking</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2caba8f76c8318736df85b6805ca460f8d262"></a><!-- doxytag: member="ssError" ref="a44262a8f1ffcc87871fbd717d3fc2caba8f76c8318736df85b6805ca460f8d262" args="" -->ssError</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00090">90</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="afbd030515b9ddddec5cac0634b518af8"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::CPtuHokuyo" ref="afbd030515b9ddddec5cac0634b518af8" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::hwdrivers::CPtuHokuyo::CPtuHokuyo </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Default constructor. </p>
</div>
</div>
<a class="anchor" id="afd1ba36255edae311dbb63df6bee2212"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::~CPtuHokuyo" ref="afd1ba36255edae311dbb63df6bee2212" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::hwdrivers::CPtuHokuyo::~CPtuHokuyo </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Destructor, delete observations of the vector. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a03bf6784838d6418f4fe485933a1ab0c"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::appendObservation" ref="a03bf6784838d6418f4fe485933a1ab0c" args="(const mrpt::utils::CSerializablePtr &obj)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CGenericSensor::appendObservation </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [inline, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Like <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ad3a33098f257c379ee6bd1bca24e45f9" title="This method must be called by derived classes to enqueue a new observation in the list to be returned...">appendObservations()</a> but for just one observation. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00155">155</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="ad3a33098f257c379ee6bd1bca24e45f9"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::appendObservations" ref="ad3a33098f257c379ee6bd1bca24e45f9" args="(const std::vector< mrpt::utils::CSerializablePtr > &obj)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CGenericSensor::appendObservations </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. </p>
<p>Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation: </p>
<div class="fragment"><pre class="fragment"> CObservationGPSPtr o = CObservationGPSPtr( <span class="keyword">new</span> CObservationGPS() );
o-> .... <span class="comment">// Set data</span>
<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a03bf6784838d6418f4fe485933a1ab0c" title="Like appendObservations() but for just one observation.">appendObservation</a>(o);
</pre></div><p> If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor. </p>
</div>
</div>
<a class="anchor" id="a6cd6b1201c6a63516364b90d3c2cbc18"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::calculateSensorPose" ref="a6cd6b1201c6a63516364b90d3c2cbc18" args="(const char &axis, const double &pos, mrpt::slam::CObservation2DRangeScan &obs)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CPtuHokuyo::calculateSensorPose </td>
<td>(</td>
<td class="paramtype">const char & </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>pos</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> & </td>
<td class="paramname"><em>obs</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Calculate the sensor pose depending teh axis of movements and the ptu position. </p>
</div>
</div>
<a class="anchor" id="a88dc6ba72f0404f70a1869d59d619437"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::continuousScan" ref="a88dc6ba72f0404f70a1869d59d619437" args="(char &axis, const double &velocity, double &initial, double &final)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool mrpt::hwdrivers::CPtuHokuyo::continuousScan </td>
<td>(</td>
<td class="paramtype">char & </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>velocity</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>initial</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>final</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Performs a continuous scan. </p>
</div>
</div>
<a class="anchor" id="ab652d017225fff3050a607f4461b0484"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::createSensor" ref="ab652d017225fff3050a607f4461b0484" args="(const std::string &className)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html">CGenericSensor</a>* mrpt::hwdrivers::CGenericSensor::createSensor </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>className</em></td><td>)</td>
<td><code> [static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Creates a sensor by a name of the class. </p>
<p>Typically the user may want to create a smart pointer around the returned pointer, whis is made with: </p>
<div class="fragment"><pre class="fragment"> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a> sensor = <a class="code" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a>( <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab652d017225fff3050a607f4461b0484" title="Creates a sensor by a name of the class.">CGenericSensor::createSensor</a>(<span class="stringliteral">"XXX"</span>) );
</pre></div> <dl class="return"><dt><b>Returns:</b></dt><dd>A pointer to a new class, or NULL if class name is unknown. </dd></dl>
</div>
</div>
<a class="anchor" id="aff4e4450e420bf60a2487ab0cff91907"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::createSensorPtr" ref="aff4e4450e420bf60a2487ab0cff91907" args="(const std::string &className)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a> mrpt::hwdrivers::CGenericSensor::createSensorPtr </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>className</em></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Just like createSensor, but returning a smart pointer to the newly created sensor object. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00188">188</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="adb08ac5e2b6209afdc88cae6058311ea"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::doProcess" ref="adb08ac5e2b6209afdc88cae6058311ea" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CPtuHokuyo::doProcess </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This method will be invoked at a minimum rate of "process_rate" (Hz) </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
</table>
</dd>
</dl>
</p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a4f02ae5d7a345819f2521f72b633ab51">mrpt::hwdrivers::CGenericSensor</a>.</p>
</div>
</div>
<a class="anchor" id="a9d5aecec9f302feede271c9f1425a323"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::getExternalImageJPEGQuality" ref="a9d5aecec9f302feede271c9f1425a323" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00241">241</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a34b2a73792cbe176b28c932646bba0ed"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::getObservations" ref="a34b2a73792cbe176b28c932646bba0ed" args="(TListObservations &lstObjects)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CGenericSensor::getObservations </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">TListObservations</a> & </td>
<td class="paramname"><em>lstObjects</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a list of enqueued objects, emptying it (thread-safe). </p>
<p>The objects must be freed by the invoker. </p>
</div>
</div>
<a class="anchor" id="a8a05c268aef7ecada94a0014a2b294f7"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::getProcessRate" ref="a8a05c268aef7ecada94a0014a2b294f7" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::hwdrivers::CGenericSensor::getProcessRate </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00100">100</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="afbc26c93b989d1a0cc94c0c88d47cdba"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::GetRuntimeClass" ref="afbc26c93b989d1a0cc94c0c88d47cdba" args="() const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html">mrpt::hwdrivers::TSensorClassId</a>* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="af3cd061ca684e7ddf5949ed78fced7c9"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::getSensorLabel" ref="af3cd061ca684e7ddf5949ed78fced7c9" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::hwdrivers::CGenericSensor::getSensorLabel </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00102">102</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a0bd667caedc6a313d96c232bf75ba577"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::getState" ref="a0bd667caedc6a313d96c232bf75ba577" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> mrpt::hwdrivers::CGenericSensor::getState </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The current state of the sensor. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00098">98</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a9f0398cf76ce9e5b7a5e7f0385b2657a"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::init" ref="a9f0398cf76ce9e5b7a5e7f0385b2657a" args="(const std::string &portPtu, const std::string &portHokuyo)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool mrpt::hwdrivers::CPtuHokuyo::init </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>portPtu</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>portHokuyo</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Initialization of laser and ptu. </p>
</div>
</div>
<a class="anchor" id="a0adb0eea57c2260c11004984fc0e3202"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::initialize" ref="a0adb0eea57c2260c11004984fc0e3202" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CPtuHokuyo::initialize </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This method can or cannot be implemented in the derived class, depending on the need for it. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
</table>
</dd>
</dl>
<p>Reimplemented from <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a775782a8fef4c5cd11265024431ed8c3">mrpt::hwdrivers::CGenericSensor</a>.</p>
</div>
</div>
<a class="anchor" id="a6f34c5b79a128d1cb6b47eaa987ecb51"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::loadConfig" ref="a6f34c5b79a128d1cb6b47eaa987ecb51" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CGenericSensor::loadConfig </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>configSource</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Loads the generic settings common to any sensor (See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...">CGenericSensor</a>), then call to "loadConfig_sensorSpecific" </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. </td></tr>
</table>
</dd>
</dl>
</p>
</div>
</div>
<a class="anchor" id="a4cdc1f3e8a2bdffb5d70fc73a7b8632b"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::loadConfig_sensorSpecific" ref="a4cdc1f3e8a2bdffb5d70fc73a7b8632b" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CPtuHokuyo::loadConfig_sensorSpecific </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>configSource</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see <a class="el" 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...">utils::CConfigFileBase</a> and derived classes) </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value. </td></tr>
</table>
</dd>
</dl>
</p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ac867f9cb46c72b4386a5488f171f178f">mrpt::hwdrivers::CGenericSensor</a>.</p>
</div>
</div>
<a class="anchor" id="a559147e7ad272b37135d20693cc00151"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::minLengthVectors" ref="a559147e7ad272b37135d20693cc00151" args="(mrpt::slam::CObservation2DRangeScan &obs, std::vector< mrpt::slam::CObservation2DRangeScan > &vObsAux)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int mrpt::hwdrivers::CPtuHokuyo::minLengthVectors </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> & </td>
<td class="paramname"><em>obs</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> > & </td>
<td class="paramname"><em>vObsAux</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Calculate minimum lenght of scan vectors. </p>
</div>
</div>
<a class="anchor" id="ab54490e002bc19d389a7658762493211"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::minLengthVectors" ref="ab54490e002bc19d389a7658762493211" args="(mrpt::slam::CObservation2DRangeScan &obs1, mrpt::slam::CObservation2DRangeScan &obs2, const int &mode)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int mrpt::hwdrivers::CPtuHokuyo::minLengthVectors </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> & </td>
<td class="paramname"><em>obs1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> & </td>
<td class="paramname"><em>obs2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const int & </td>
<td class="paramname"><em>mode</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Calculate minimum lenght of 2 scan vectors. </p>
</div>
</div>
<a class="anchor" id="a9d58dfe3511b727f5cbf1aca4d92cfa4"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::obsPosition" ref="a9d58dfe3511b727f5cbf1aca4d92cfa4" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int mrpt::hwdrivers::CPtuHokuyo::obsPosition </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Obtain position of observations between first and second position in m_my_pos map. </p>
</div>
</div>
<a class="anchor" id="af7d41a2121ad7a7eb26b792bfe4b70d5"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::obtainObs" ref="af7d41a2121ad7a7eb26b792bfe4b70d5" args="(mrpt::slam::CObservation2DRangeScan &obs)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool mrpt::hwdrivers::CPtuHokuyo::obtainObs </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> & </td>
<td class="paramname"><em>obs</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Obtain a observation from the laser. </p>
</div>
</div>
<a class="anchor" id="a3bf27da651e5b8b87e8c7df39f5fdcae"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::refineVObs" ref="a3bf27da651e5b8b87e8c7df39f5fdcae" args="(const char &axis)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CPtuHokuyo::refineVObs </td>
<td>(</td>
<td class="paramtype">const char & </td>
<td class="paramname"><em>axis</em></td><td>)</td>
<td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Load observations in a points map. </p>
<p>Limit the valid position of scan points Refine the observations obtains from a continuous scan </p>
</div>
</div>
<a class="anchor" id="a640e1b953865c3d2e881bbd2c1a81428"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::registerClass" ref="a640e1b953865c3d2e881bbd2c1a81428" args="(const TSensorClassId *pNewClass)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::hwdrivers::CGenericSensor::registerClass </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html">TSensorClassId</a> * </td>
<td class="paramname"><em>pNewClass</em></td><td>)</td>
<td><code> [static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Register a class into the internal list of "CGenericSensor" descendents. </p>
<p>Used internally in the macros DEFINE_GENERIC_SENSOR, etc...</p>
<p>Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code. </p>
</div>
</div>
<a class="anchor" id="ac0c6d853af7cbdf87448df40cf83093d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::saveObservation" ref="ac0c6d853af7cbdf87448df40cf83093d" args="(const char &axis, const int &mean)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::hwdrivers::CPtuHokuyo::saveObservation </td>
<td>(</td>
<td class="paramtype">const char & </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const int & </td>
<td class="paramname"><em>mean</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Save a observation from the laser into a vector of observations, calculating sensor position. </p>
</div>
</div>
<a class="anchor" id="ad4a05498d698bd3fe544e9ff2fb83765"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::savePitchAndDistances2File" ref="ad4a05498d698bd3fe544e9ff2fb83765" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool mrpt::hwdrivers::CPtuHokuyo::savePitchAndDistances2File </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Save pitchs and raw distances of all scans. </p>
</div>
</div>
<a class="anchor" id="a874ae55bd37772bc25113e35d717e41d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::saveVObs2File" ref="a874ae55bd37772bc25113e35d717e41d" args="(char *fname="Data.rawlog")" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool mrpt::hwdrivers::CPtuHokuyo::saveVObs2File </td>
<td>(</td>
<td class="paramtype">char * </td>
<td class="paramname"><em>fname</em> = <code>"Data.rawlog"</code></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Show a graphic with the points obtained from the scan or a map. </p>
<p>Save a simple points map into a simple file (if colours==true save points with a color) Save vector of observations in a CFileOutputStream file </p>
</div>
</div>
<a class="anchor" id="ad1dd9d803df4e16107d41f912f684568"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::saveVObsPoints2File" ref="ad1dd9d803df4e16107d41f912f684568" args="(char *fname="Data.pts", const bool &colours=false)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool mrpt::hwdrivers::CPtuHokuyo::saveVObsPoints2File </td>
<td>(</td>
<td class="paramtype">char * </td>
<td class="paramname"><em>fname</em> = <code>"Data.pts"</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const bool & </td>
<td class="paramname"><em>colours</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Save vector points of observations into a simple file. </p>
</div>
</div>
<a class="anchor" id="ac45b05009c671d798c2443ae463a042a"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::scan" ref="ac45b05009c671d798c2443ae463a042a" args="(char &axis, const int &tWait, double &initial, double &final, const double &radPre, const int &mean, const bool &interlaced=false)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool mrpt::hwdrivers::CPtuHokuyo::scan </td>
<td>(</td>
<td class="paramtype">char & </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const int & </td>
<td class="paramname"><em>tWait</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>initial</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>final</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>radPre</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const int & </td>
<td class="paramname"><em>mean</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const bool & </td>
<td class="paramname"><em>interlaced</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Performs a complete scan. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname"><axis></td><td>Pan or Till </td></tr>
<tr><td class="paramname"><tWait></td><td>Wait time betwen commands </td></tr>
<tr><td class="paramname"><initial></td><td>initial position </td></tr>
<tr><td class="paramname"><final></td><td>final position </td></tr>
<tr><td class="paramname"><radPre></td><td>radians precision for the scan </td></tr>
<tr><td class="paramname"><interlaced></td><td>if interlaced==true performs a double sweep </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="aff4b208b901763557196b9326901c582"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::setExternalImageFormat" ref="aff4b208b901763557196b9326901c582" args="(const std::string &ext)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>ext</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#afa55ff06dbf360c8f631d371d6ebe35d" title="Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not...">setPathForExternalImages</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aca05f7ee991ee112b5e9f8f289a9ee94" title="The quality of JPEG compression, when external images is enabled and the format is "jpg"...">setExternalImageJPEGQuality</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00233">233</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="aca05f7ee991ee112b5e9f8f289a9ee94"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::setExternalImageJPEGQuality" ref="aca05f7ee991ee112b5e9f8f289a9ee94" args="(const unsigned int quality)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality </td>
<td>(</td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>quality</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The quality of JPEG compression, when external images is enabled and the format is "jpg". </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aff4b208b901763557196b9326901c582" title="Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The d...">setExternalImageFormat</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00238">238</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2de3940e0296e55a6a7e5f281d9a5697"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::setHigh" ref="a2de3940e0296e55a6a7e5f281d9a5697" args="(const double &newHigh)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CPtuHokuyo::setHigh </td>
<td>(</td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>newHigh</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Method for limit map points obtained from a scan. </p>
<p>Set high between ptu tilt axis and hokuyo laser scan </p>
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00151">151</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="afa55ff06dbf360c8f631d371d6ebe35d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::setPathForExternalImages" ref="afa55ff06dbf360c8f631d371d6ebe35d" args="(const std::string &directory)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>directory</em></td><td>)</td>
<td><code> [inline, virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). </p>
<p>An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>If the directory doesn't exists and cannot be created. </td></tr>
</table>
</dd>
</dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_kinect.html#af1eb1294ff0693595f46c26ede24d115">mrpt::hwdrivers::CKinect</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html#a8cc198b85399850d439eda47d832bc8d">mrpt::hwdrivers::CCameraSensor</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a7392e6fb7a5720f0cbfa6dd02b7ec439">mrpt::hwdrivers::CSwissRanger3DCamera</a>.</p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00225">225</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a044c1340c4b90957250f63fa89189036"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::setSensorLabel" ref="a044c1340c4b90957250f63fa89189036" args="(const std::string &sensorLabel)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CGenericSensor::setSensorLabel </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>sensorLabel</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00103">103</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a8d4fe9ec5374b201ff413df712241cff"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::singleScan" ref="a8d4fe9ec5374b201ff413df712241cff" args="(const char &axis, const int &tWait, const int &movements, const double &radPre, const int &mean)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool mrpt::hwdrivers::CPtuHokuyo::singleScan </td>
<td>(</td>
<td class="paramtype">const char & </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const int & </td>
<td class="paramname"><em>tWait</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const int & </td>
<td class="paramname"><em>movements</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>radPre</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const int & </td>
<td class="paramname"><em>mean</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Performs a simple scan. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname"><axis></td><td>Pan or Till </td></tr>
<tr><td class="paramname"><tWait></td><td>Wait time betwen commands </td></tr>
<tr><td class="paramname"><movements></td><td>number total of movements </td></tr>
<tr><td class="paramname"><radPre></td><td>radians precision for the scan </td></tr>
<tr><td class="paramname"><vObs></td><td>reference to obsevations vector for save the observation </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ae4c83a6e3a51271abcc18dee13d26932"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::high" ref="ae4c83a6e3a51271abcc18dee13d26932" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ae4c83a6e3a51271abcc18dee13d26932">mrpt::hwdrivers::CPtuHokuyo::high</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00089">89</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="ac319b684786f6747c7d5fc435c7fba8b"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::laser" ref="ac319b684786f6747c7d5fc435c7fba8b" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_hokuyo_u_r_g.html">CHokuyoURG</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ac319b684786f6747c7d5fc435c7fba8b">mrpt::hwdrivers::CPtuHokuyo::laser</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00077">77</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="abc7d1c5862149513f248b7b69d95337b"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_axis" ref="abc7d1c5862149513f248b7b69d95337b" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">char <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#abc7d1c5862149513f248b7b69d95337b">mrpt::hwdrivers::CPtuHokuyo::m_axis</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00065">65</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="a7d153c5247b0180b6b9df5054d67b183"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_external_images_format" ref="a7d153c5247b0180b6b9df5054d67b183" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a7d153c5247b0180b6b9df5054d67b183">mrpt::hwdrivers::CGenericSensor::m_external_images_format</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The extension ("jpg","gif","png",...) that determines the format of images saved externally. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#afa55ff06dbf360c8f631d371d6ebe35d" title="Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not...">setPathForExternalImages</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00139">139</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="aeac331931fce4890793cd7f1b5f6eb3e"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_external_images_jpeg_quality" ref="aeac331931fce4890793cd7f1b5f6eb3e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aeac331931fce4890793cd7f1b5f6eb3e">mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>For JPEG images, the quality (default=95%). </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00140">140</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="ab6ee27e5f38991f885659a7087322dc0"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_final" ref="ab6ee27e5f38991f885659a7087322dc0" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ab6ee27e5f38991f885659a7087322dc0">mrpt::hwdrivers::CPtuHokuyo::m_final</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00066">66</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="a587daaab2cb302eb4cc72eb1396d5f21"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_grab_decimation" ref="a587daaab2cb302eb4cc72eb1396d5f21" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a587daaab2cb302eb4cc72eb1396d5f21">mrpt::hwdrivers::CGenericSensor::m_grab_decimation</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>If set to N>=2, only 1 out of N observations will be saved to m_objList. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00127">127</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a564a6c2bc7f1baaea9a9d90112a7b376"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_grab_decimation_counter" ref="a564a6c2bc7f1baaea9a9d90112a7b376" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a564a6c2bc7f1baaea9a9d90112a7b376">mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Used when "m_grab_decimation" is enabled. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00132">132</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a86dcbe4154d8b47d11ed08727ceb7f10"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_hokuyo_frec" ref="a86dcbe4154d8b47d11ed08727ceb7f10" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a86dcbe4154d8b47d11ed08727ceb7f10">mrpt::hwdrivers::CPtuHokuyo::m_hokuyo_frec</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00066">66</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="aacc0c367127cdd208a8051ebf25b14c0"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_initial" ref="aacc0c367127cdd208a8051ebf25b14c0" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#aacc0c367127cdd208a8051ebf25b14c0">mrpt::hwdrivers::CPtuHokuyo::m_initial</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00066">66</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="a6f35448579bd4d27cd4f4685b31a8cc0"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_max_queue_len" ref="a6f35448579bd4d27cd4f4685b31a8cc0" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f35448579bd4d27cd4f4685b31a8cc0">mrpt::hwdrivers::CGenericSensor::m_max_queue_len</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...">CGenericSensor</a>. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00126">126</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a06fe84426b813b9c1966c12bb69e6ee6"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_path_for_external_images" ref="a06fe84426b813b9c1966c12bb69e6ee6" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a06fe84426b813b9c1966c12bb69e6ee6">mrpt::hwdrivers::CGenericSensor::m_path_for_external_images</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The path where to save off-rawlog images: empty means save images embedded in the rawlog. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00138">138</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a77094b791971e8f42b94de34f4adb0f7"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_process_rate" ref="a77094b791971e8f42b94de34f4adb0f7" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a77094b791971e8f42b94de34f4adb0f7">mrpt::hwdrivers::CGenericSensor::m_process_rate</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...">CGenericSensor</a>. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00125">125</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a5edbfdfe3b92d15ed045f644ccafebce"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_ptu_port" ref="a5edbfdfe3b92d15ed045f644ccafebce" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a5edbfdfe3b92d15ed045f644ccafebce">mrpt::hwdrivers::CPtuHokuyo::m_ptu_port</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00064">64</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="ad05c22c9b5b084ac865dd3296ceac3c0"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_ptu_type" ref="ad05c22c9b5b084ac865dd3296ceac3c0" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#ad05c22c9b5b084ac865dd3296ceac3c0">mrpt::hwdrivers::CPtuHokuyo::m_ptu_type</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Specify type of ptu. </p>
<p>Current options are: m_ptu_type = 0 => <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html" title="This class implements initialization and comunication methods to control a Pan and Tilt Unit model PT...">CPtuDPerception</a> m_ptu_type = 1 => CPtuMicos </p>
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00084">84</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="accd4de8daeb5966c191fbc62a5d90355"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_sensorLabel" ref="accd4de8daeb5966c191fbc62a5d90355" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#accd4de8daeb5966c191fbc62a5d90355">mrpt::hwdrivers::CGenericSensor::m_sensorLabel</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...">CGenericSensor</a>. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00128">128</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="ab3e8a003783acd03bfd64716640fd67c"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_state" ref="ab3e8a003783acd03bfd64716640fd67c" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab3e8a003783acd03bfd64716640fd67c">mrpt::hwdrivers::CGenericSensor::m_state</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00134">134</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2e86bf5dc33502e13a04c44b7cb81a6e"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::m_velocity" ref="a2e86bf5dc33502e13a04c44b7cb81a6e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a2e86bf5dc33502e13a04c44b7cb81a6e">mrpt::hwdrivers::CPtuHokuyo::m_velocity</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00066">66</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="a64665a3521a522f47028ca405674711a"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::ptu" ref="a64665a3521a522f47028ca405674711a" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html">CPtuBase</a>* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a64665a3521a522f47028ca405674711a">mrpt::hwdrivers::CPtuHokuyo::ptu</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00078">78</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="a07ea31267673d43dee97b9d7468057cf"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::v_my_pos" ref="a07ea31267673d43dee97b9d7468057cf" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo_1_1my__pos.html">mrpt::hwdrivers::CPtuHokuyo::my_pos</a>> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a07ea31267673d43dee97b9d7468057cf">mrpt::hwdrivers::CPtuHokuyo::v_my_pos</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00097">97</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="a39d045a309d385ea341e2609fbe34417"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::v_ptu_pos" ref="a39d045a309d385ea341e2609fbe34417" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><double> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a39d045a309d385ea341e2609fbe34417">mrpt::hwdrivers::CPtuHokuyo::v_ptu_pos</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00098">98</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="a6064fab490f1af257831a43f9b7971e3"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::v_ptu_time" ref="a6064fab490f1af257831a43f9b7971e3" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><double> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a6064fab490f1af257831a43f9b7971e3">mrpt::hwdrivers::CPtuHokuyo::v_ptu_time</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00098">98</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
<a class="anchor" id="aa2d7183d421d969cd3b0f54d9b1275dc"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuHokuyo::vObs" ref="aa2d7183d421d969cd3b0f54d9b1275dc" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a>> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#aa2d7183d421d969cd3b0f54d9b1275dc">mrpt::hwdrivers::CPtuHokuyo::vObs</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_hokuyo_8h_source.html#l00086">86</a> of file <a class="el" href="_c_ptu_hokuyo_8h_source.html">CPtuHokuyo.h</a>.</p>
</div>
</div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
