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<title>mrpt::hwdrivers::CSickLaserSerial Class Reference</title>
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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::hwdrivers::CSickLaserSerial Class Reference<div class="ingroups"><a class="el" href="group__mrpt__hwdrivers__grp.html">[mrpt-hwdrivers]</a></div></div> </div>
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<!-- doxytag: class="mrpt::hwdrivers::CSickLaserSerial" --><!-- doxytag: inherits="mrpt::hwdrivers::C2DRangeFinderAbstract" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a USB2SERIAL converter). </p>
<p>The serial port is opened upon the first call to "doProcess" or "initialize", so you must call "loadConfig" before this, or manually call "setSerialPort". Another alternative is to call the base class method <a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a9b619b52c015385fc16bfd213d39fd1c" title="Binds the object to a given I/O channel.">C2DRangeFinderAbstract::bindIO</a>, but the "setSerialPort" interface is probably much simpler to use.</p>
<p>For an example of usage see the example in "samples/SICK_laser_serial_test". See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".</p>
<div class="fragment"><pre class="fragment"> PARAMETERS IN THE <span class="stringliteral">".INI"</span>-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
COM_port_WIN = COM1 <span class="comment">// Serial port to connect to</span>
COM_port_LIN = ttyS0
COM_baudRate = 38400 <span class="comment">// Possible values: 9600 (default), 38400, 5000000</span>
mm_mode = 1/0 <span class="comment">// 1: millimeter mode, 0:centimeter mode (Default=0)</span>
FOV = 180 <span class="comment">// Field of view: 100 or 180 degrees (Default=180)</span>
resolution = 50 <span class="comment">// Scanning resolution, in units of 1/100 degree. Valid values: 25,50,100 (Default=50)</span>
pose_x=0.21 <span class="comment">// Laser range scaner 3D position in the robot (meters)</span>
pose_y=0
pose_z=0.34
pose_yaw=0 <span class="comment">// Angles in degrees</span>
pose_pitch=0
pose_roll=0
</pre></div><dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html" title="This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...">C2DRangeFinderAbstract</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_sick_laser_serial_8h_source.html">mrpt/hwdrivers/CSickLaserSerial.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CSickLaserSerial:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_sick_laser_serial_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_sick_laser_serial_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_sick_laser_serial_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html" title="This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder..." alt="" coords="102,155,372,181"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to std::cout..." alt="" coords="5,80,227,107"/><area shape="rect" id="node6" 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="252,80,468,107"/><area shape="rect" id="node8" 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="279,5,441,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial-members.html">List of all members.</a></p>
<table class="memberdecls">
<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_sick_laser_serial.html#aa6abac114a5821aabbad166d0bace675">CSickLaserSerial</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#aa6abac114a5821aabbad166d0bace675"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#aa958bc2c5cacdae148c1120ca60b47ad">~CSickLaserSerial</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#aa958bc2c5cacdae148c1120ca60b47ad"></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_sick_laser_serial.html#a5983b8c6b4ed4ea54af0096d3aa261a6">setSerialPort</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &port)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". <a href="#a5983b8c6b4ed4ea54af0096d3aa261a6"></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_sick_laser_serial.html#a4419de690af513782a3c22174426e916">getSerialPort</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_sick_laser_serial.html#a2825fb1dc6b654bf5b92837493bdf967">setBaudRate</a> (int baud)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000. <a href="#a2825fb1dc6b654bf5b92837493bdf967"></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_sick_laser_serial.html#a313d6933288717ec0645fb98831a90ea">getBaudRate</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_sick_laser_serial.html#a7dcc9c07fd4866677fde9a0904fcb153">setMillimeterMode</a> (bool mm_mode=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". <a href="#a7dcc9c07fd4866677fde9a0904fcb153"></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_sick_laser_serial.html#a269cdcf7dc576930714791374ac8a7fc">setScanFOV</a> (int fov_degrees)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the scanning field of view - possible values are 100 or 180 (default) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". <a href="#a269cdcf7dc576930714791374ac8a7fc"></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_sick_laser_serial.html#aa7f4b9db0fd2b355071c2958d698fc59">getScanFOV</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_sick_laser_serial.html#a295f896117842895b47fe9daf10b6072">setScanResolution</a> (int res_1_100th_degree)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg. <a href="#a295f896117842895b47fe9daf10b6072"></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_sick_laser_serial.html#a87c607f2d156ac45504ea812809e0b00">getScanResolution</a> () const </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_sick_laser_serial.html#aeaf315d986bd7363f2630af80b49eb99">getCurrentConnectTry</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If performing several tries in ::initialize(), this is the current try loop number. <a href="#aeaf315d986bd7363f2630af80b49eb99"></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_sick_laser_serial.html#a1e86e2054643700cae84c80c701098cf">doProcessSimple</a> (bool &outThereIsObservation, <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> &outObservation, bool &hardwareError)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. <a href="#a1e86e2054643700cae84c80c701098cf"></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_sick_laser_serial.html#a4074cd3efda8a33671353fd357d46f43">initialize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set-up communication with the laser. <a href="#a4074cd3efda8a33671353fd357d46f43"></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_sick_laser_serial.html#abf31dac14e8696603b0c43ba7c8c7840">turnOn</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables the scanning mode (in this class this has no effect). <a href="#abf31dac14e8696603b0c43ba7c8c7840"></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_sick_laser_serial.html#a86c1d41cbc68f14437de57d4931e9a5a">turnOff</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Disables the scanning mode (in this class this has no effect). <a href="#a86c1d41cbc68f14437de57d4931e9a5a"></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_c2_d_range_finder_abstract.html#a9b619b52c015385fc16bfd213d39fd1c">bindIO</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> *streamIO)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Binds the object to a given I/O channel. <a href="#a9b619b52c015385fc16bfd213d39fd1c"></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_c2_d_range_finder_abstract.html#ac235087adef28853027ec1c8f4dc912d">getObservation</a> (bool &outThereIsObservation, <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> &outObservation, bool &hardwareError)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). <a href="#ac235087adef28853027ec1c8f4dc912d"></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_c2_d_range_finder_abstract.html#a9ab22161d6d802bcd5c8b609fb8a6b54">doProcess</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Main method for a <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="#a9ab22161d6d802bcd5c8b609fb8a6b54"></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_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></a><br/></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="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_sick_laser_serial.html#aba6ad2f5e7ba1725b1ba2256312ac202">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> &iniSection)</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) See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html" title="This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser sca...">hwdrivers::CSickLaserSerial</a> for the possible parameters. <a href="#aba6ad2f5e7ba1725b1ba2256312ac202"></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_c2_d_range_finder_abstract.html#ae90d3b0b79158e678ede1537e0a9e900">loadExclusionAreas</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> &iniSection)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). <a href="#ae90d3b0b79158e678ede1537e0a9e900"></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_c2_d_range_finder_abstract.html#a35e79cc5b9805cf868b3fdc909ec78eb">filterByExclusionAreas</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> &obs) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. <a href="#a35e79cc5b9805cf868b3fdc909ec78eb"></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_c2_d_range_finder_abstract.html#a6a5778b1c951524c68f83d3735e60b6f">filterByExclusionAngles</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> &obs) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Mark as invalid those ranges in a set of forbiden angle ranges. <a href="#a6a5778b1c951524c68f83d3735e60b6f"></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="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#acc3dd38ff320d03d0a2bce7e44e8a2d9">m_stream</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The I/O channel (will be NULL if not bound). <a href="#acc3dd38ff320d03d0a2bce7e44e8a2d9"></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#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">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ac2d59a30d982b74f017e8596788d9321">tryToOpenComms</a> (<a class="el" href="classstd_1_1string.html">std::string</a> *err_msg=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tries to open the com port and setup all the LMS protocol. Returns true if OK or already open. <a href="#ac2d59a30d982b74f017e8596788d9321"></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_sick_laser_serial.html#a83b8bd08883309e39ebabba74790ad7b">waitContinuousSampleFrame</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< float > &ranges, unsigned char &LMS_status, bool &is_mm_mode)</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_sick_laser_serial.html#a1ba855b3cea81cd6aa8ab93c2014d160">LMS_setupSerialComms</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Assures laser is connected and operating at 38400, in its case returns true. <a href="#a1ba855b3cea81cd6aa8ab93c2014d160"></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_sick_laser_serial.html#a969aa143d68d49c2e4040f8b8f8d9261">LMS_setupBaudrate</a> (int baud)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Send a command to change the LMS comms baudrate, return true if ACK is OK. baud can be: 9600, 19200, 38400, 500000. <a href="#a969aa143d68d49c2e4040f8b8f8d9261"></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_sick_laser_serial.html#a15dfc495879e223dd0c4bedd10e9e44f">LMS_statusQuery</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Send a status query and wait for the answer. Return true on OK. <a href="#a15dfc495879e223dd0c4bedd10e9e44f"></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_sick_laser_serial.html#a0624db148b77763767d6fb0676c6b526">LMS_waitACK</a> (uint16_t timeout_ms)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns false if timeout. <a href="#a0624db148b77763767d6fb0676c6b526"></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_sick_laser_serial.html#a32ee3d6c362557fec96ccec5a223575d">LMS_waitIncomingFrame</a> (uint16_t timeout)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns false if timeout. <a href="#a32ee3d6c362557fec96ccec5a223575d"></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_sick_laser_serial.html#a2853dadbac9cf4594b09164bda26a34d">LMS_sendMeasuringMode_cm_mm</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns false on error. <a href="#a2853dadbac9cf4594b09164bda26a34d"></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_sick_laser_serial.html#af708451fd7da05616a0958c07c99fa59">LMS_startContinuousMode</a> ()</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_sick_laser_serial.html#a60a1698c05c30550bdc8565450e107ae">LMS_endContinuousMode</a> ()</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_sick_laser_serial.html#a1c825888d5ee232ebf34c65cccb29c4f">SendCommandToSICK</a> (const uint8_t *cmd, const uint16_t cmd_len)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Send header+command-data+crc and waits for ACK. Return false on error. <a href="#a1c825888d5ee232ebf34c65cccb29c4f"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></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_sick_laser_serial.html#ae0d4030543a72a6ee3cc5e572616fc2c">m_mm_mode</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_sick_laser_serial.html#afa1a3d09e5cc3c4613a2691843f938a6">m_scans_FOV</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">100 or 180 deg <a href="#afa1a3d09e5cc3c4613a2691843f938a6"></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_sick_laser_serial.html#acd36ddf29b52a69dddb4f2576c1e7fa4">m_scans_res</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">1/100th of deg: 100, 50 or 25 <a href="#acd36ddf29b52a69dddb4f2576c1e7fa4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">poses::TPose3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a204584b599c90ced77b8bd645b83ca98">m_sensorPose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The sensor 6D pose: <a href="#a204584b599c90ced77b8bd645b83ca98"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#acf56eaf7d798ca6efd4e539e2dfbb900">m_received_frame_buffer</a> [2000]</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_sick_laser_serial.html#a155aebcdba964cabbd2e9398a529faef">m_com_port</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. <a href="#a155aebcdba964cabbd2e9398a529faef"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html">CSerialPort</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ac2146dbe9d5ac4be74ed9cd1759557ec">m_mySerialPort</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Will be !=NULL only if I created it, so I must destroy it at the end. <a href="#ac2146dbe9d5ac4be74ed9cd1759557ec"></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_sick_laser_serial.html#ab20ee4c9b1caea9113a6abaffc02a1fb">m_com_baudRate</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Baudrate: 9600, 38400, 500000. <a href="#ab20ee4c9b1caea9113a6abaffc02a1fb"></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_sick_laser_serial.html#a1233ac37b907cfcc0f5f69170be3821f">m_nTries_connect</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default = 1. <a href="#a1233ac37b907cfcc0f5f69170be3821f"></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_sick_laser_serial.html#a2078a713bc000637e418c613d62e0147">m_nTries_current</a></td></tr>
<tr><td colspan="2"><h2><a name="pri-static-attribs"></a>
Static Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ad11dd629bc4f074ce9348d53ee556b7d">CRC16_GEN_POL</a></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="af237beee1de7f3e5733e305921695b30"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::TListObservations" ref="af237beee1de7f3e5733e305921695b30" args="" -->
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<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>
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<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>
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<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>
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<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>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2cab"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::TSensorState" ref="a44262a8f1ffcc87871fbd717d3fc2cab" args="" -->
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<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>
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<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>
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<tr><td valign="top"><em><a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489"></a><!-- doxytag: member="ssWorking" ref="a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489" args="" -->ssWorking</em> </td><td>
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<tr><td valign="top"><em><a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2caba8f76c8318736df85b6805ca460f8d262"></a><!-- doxytag: member="ssError" ref="a44262a8f1ffcc87871fbd717d3fc2caba8f76c8318736df85b6805ca460f8d262" args="" -->ssError</em> </td><td>
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<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>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="aa6abac114a5821aabbad166d0bace675"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial" ref="aa6abac114a5821aabbad166d0bace675" args="()" -->
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<td class="memname">mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial </td>
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<p>Constructor. </p>
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<a class="anchor" id="aa958bc2c5cacdae148c1120ca60b47ad"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::~CSickLaserSerial" ref="aa958bc2c5cacdae148c1120ca60b47ad" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CSickLaserSerial::~CSickLaserSerial </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a03bf6784838d6418f4fe485933a1ab0c"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::appendObservation" ref="a03bf6784838d6418f4fe485933a1ab0c" args="(const mrpt::utils::CSerializablePtr &obj)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::appendObservation </td>
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<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>
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<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>
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<a class="anchor" id="ad3a33098f257c379ee6bd1bca24e45f9"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::appendObservations" ref="ad3a33098f257c379ee6bd1bca24e45f9" args="(const std::vector< mrpt::utils::CSerializablePtr > &obj)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::appendObservations </td>
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<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>
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<a class="anchor" id="a9b619b52c015385fc16bfd213d39fd1c"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::bindIO" ref="a9b619b52c015385fc16bfd213d39fd1c" args="(CStream *streamIO)" -->
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<td class="memname">void mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO </td>
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<td><code> [inherited]</code></td>
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<p>Binds the object to a given I/O channel. </p>
<p>The stream object must not be deleted before the destruction of this class. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">hwdrivers::CSerialPort</a> </dd></dl>
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<a class="anchor" id="ab652d017225fff3050a607f4461b0484"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::createSensor" ref="ab652d017225fff3050a607f4461b0484" args="(const std::string &className)" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html">CGenericSensor</a>* mrpt::hwdrivers::CGenericSensor::createSensor </td>
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<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>
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<a class="anchor" id="aff4e4450e420bf60a2487ab0cff91907"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::createSensorPtr" ref="aff4e4450e420bf60a2487ab0cff91907" args="(const std::string &className)" -->
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<td class="memname">static <a class="el" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a> mrpt::hwdrivers::CGenericSensor::createSensorPtr </td>
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<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>
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<a class="anchor" id="a9ab22161d6d802bcd5c8b609fb8a6b54"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::doProcess" ref="a9ab22161d6d802bcd5c8b609fb8a6b54" args="()" -->
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<p>Main method for a <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>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a4f02ae5d7a345819f2521f72b633ab51">mrpt::hwdrivers::CGenericSensor</a>.</p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_l_m_s100_eth.html#aa75b469c4121c09e1fc8327d293d5331">mrpt::hwdrivers::CLMS100Eth</a>.</p>
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<a class="anchor" id="a1e86e2054643700cae84c80c701098cf"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::doProcessSimple" ref="a1e86e2054643700cae84c80c701098cf" args="(bool &outThereIsObservation, mrpt::slam::CObservation2DRangeScan &outObservation, bool &hardwareError)" -->
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<p>Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. </p>
<p>This method will be typically called in a different thread than other methods, and will be called in a timely fashion. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a1f64f58506a3fc9f00d00ac4bae716c4">mrpt::hwdrivers::C2DRangeFinderAbstract</a>.</p>
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<a class="anchor" id="a6a5778b1c951524c68f83d3735e60b6f"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::filterByExclusionAngles" ref="a6a5778b1c951524c68f83d3735e60b6f" args="(CObservation2DRangeScan &obs) const " -->
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<p>Mark as invalid those ranges in a set of forbiden angle ranges. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#ae90d3b0b79158e678ede1537e0a9e900" title="Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles)...">loadExclusionAreas</a> </dd></dl>
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<a class="anchor" id="a35e79cc5b9805cf868b3fdc909ec78eb"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::filterByExclusionAreas" ref="a35e79cc5b9805cf868b3fdc909ec78eb" args="(CObservation2DRangeScan &obs) const " -->
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<p>Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#ae90d3b0b79158e678ede1537e0a9e900" title="Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles)...">loadExclusionAreas</a> </dd></dl>
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<a class="anchor" id="a313d6933288717ec0645fb98831a90ea"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getBaudRate" ref="a313d6933288717ec0645fb98831a90ea" args="() const " -->
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<td class="memname">int mrpt::hwdrivers::CSickLaserSerial::getBaudRate </td>
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<td> const<code> [inline]</code></td>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a2825fb1dc6b654bf5b92837493bdf967" title="Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.">setBaudRate</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00138">138</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="aeaf315d986bd7363f2630af80b49eb99"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getCurrentConnectTry" ref="aeaf315d986bd7363f2630af80b49eb99" args="() const " -->
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<td class="memname">unsigned int mrpt::hwdrivers::CSickLaserSerial::getCurrentConnectTry </td>
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<p>If performing several tries in ::initialize(), this is the current try loop number. </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00159">159</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a9d5aecec9f302feede271c9f1425a323"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getExternalImageJPEGQuality" ref="a9d5aecec9f302feede271c9f1425a323" args="() const " -->
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<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>
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<a class="anchor" id="ac235087adef28853027ec1c8f4dc912d"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getObservation" ref="ac235087adef28853027ec1c8f4dc912d" args="(bool &outThereIsObservation, CObservation2DRangeScan &outObservation, bool &hardwareError)" -->
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<td class="memname">void mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> & </td>
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<p>Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). </p>
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<a class="anchor" id="a34b2a73792cbe176b28c932646bba0ed"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getObservations" ref="a34b2a73792cbe176b28c932646bba0ed" args="(TListObservations &lstObjects)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::getObservations </td>
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<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>
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<p>Returns a list of enqueued objects, emptying it (thread-safe). </p>
<p>The objects must be freed by the invoker. </p>
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<a class="anchor" id="a8a05c268aef7ecada94a0014a2b294f7"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getProcessRate" ref="a8a05c268aef7ecada94a0014a2b294f7" args="() const " -->
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<td class="memname">double mrpt::hwdrivers::CGenericSensor::getProcessRate </td>
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<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>
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<a class="anchor" id="afbc26c93b989d1a0cc94c0c88d47cdba"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::GetRuntimeClass" ref="afbc26c93b989d1a0cc94c0c88d47cdba" args="() const =0" -->
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<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>
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<a class="anchor" id="aa7f4b9db0fd2b355071c2958d698fc59"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getScanFOV" ref="aa7f4b9db0fd2b355071c2958d698fc59" args="() const " -->
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<td class="memname">int mrpt::hwdrivers::CSickLaserSerial::getScanFOV </td>
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00150">150</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a87c607f2d156ac45504ea812809e0b00"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getScanResolution" ref="a87c607f2d156ac45504ea812809e0b00" args="() const " -->
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<td class="memname">int mrpt::hwdrivers::CSickLaserSerial::getScanResolution </td>
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00156">156</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="af3cd061ca684e7ddf5949ed78fced7c9"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getSensorLabel" ref="af3cd061ca684e7ddf5949ed78fced7c9" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::hwdrivers::CGenericSensor::getSensorLabel </td>
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<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>
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<a class="anchor" id="a4419de690af513782a3c22174426e916"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getSerialPort" ref="a4419de690af513782a3c22174426e916" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::hwdrivers::CSickLaserSerial::getSerialPort </td>
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<td> const<code> [inline]</code></td>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a5983b8c6b4ed4ea54af0096d3aa261a6" title="Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0"...">setSerialPort</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00129">129</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a0bd667caedc6a313d96c232bf75ba577"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::getState" ref="a0bd667caedc6a313d96c232bf75ba577" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> mrpt::hwdrivers::CGenericSensor::getState </td>
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<td> const<code> [inline, inherited]</code></td>
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<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>
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<a class="anchor" id="a4074cd3efda8a33671353fd357d46f43"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::initialize" ref="a4074cd3efda8a33671353fd357d46f43" args="()" -->
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<p>Set-up communication with the laser. </p>
<p>Called automatically by rawlog-grabber. If used manually, call after "loadConfig" and before "doProcess".</p>
<p>In this class this method does nothing, since the communications are setup at the first try from "doProcess" or "doProcessSimple". </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a775782a8fef4c5cd11265024431ed8c3">mrpt::hwdrivers::CGenericSensor</a>.</p>
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<a class="anchor" id="a60a1698c05c30550bdc8565450e107ae"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::LMS_endContinuousMode" ref="a60a1698c05c30550bdc8565450e107ae" args="()" -->
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<td><code> [private]</code></td>
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<a class="anchor" id="a2853dadbac9cf4594b09164bda26a34d"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::LMS_sendMeasuringMode_cm_mm" ref="a2853dadbac9cf4594b09164bda26a34d" args="()" -->
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<p>Returns false on error. </p>
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<a class="anchor" id="a969aa143d68d49c2e4040f8b8f8d9261"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::LMS_setupBaudrate" ref="a969aa143d68d49c2e4040f8b8f8d9261" args="(int baud)" -->
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<p>Send a command to change the LMS comms baudrate, return true if ACK is OK. baud can be: 9600, 19200, 38400, 500000. </p>
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<a class="anchor" id="a1ba855b3cea81cd6aa8ab93c2014d160"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms" ref="a1ba855b3cea81cd6aa8ab93c2014d160" args="()" -->
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<p>Assures laser is connected and operating at 38400, in its case returns true. </p>
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<a class="anchor" id="af708451fd7da05616a0958c07c99fa59"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::LMS_startContinuousMode" ref="af708451fd7da05616a0958c07c99fa59" args="()" -->
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<td><code> [private]</code></td>
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<a class="anchor" id="a15dfc495879e223dd0c4bedd10e9e44f"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::LMS_statusQuery" ref="a15dfc495879e223dd0c4bedd10e9e44f" args="()" -->
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<p>Send a status query and wait for the answer. Return true on OK. </p>
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<a class="anchor" id="a0624db148b77763767d6fb0676c6b526"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::LMS_waitACK" ref="a0624db148b77763767d6fb0676c6b526" args="(uint16_t timeout_ms)" -->
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<p>Returns false if timeout. </p>
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<a class="anchor" id="a32ee3d6c362557fec96ccec5a223575d"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame" ref="a32ee3d6c362557fec96ccec5a223575d" args="(uint16_t timeout)" -->
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<p>Returns false if timeout. </p>
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<a class="anchor" id="a6f34c5b79a128d1cb6b47eaa987ecb51"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::loadConfig" ref="a6f34c5b79a128d1cb6b47eaa987ecb51" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &section)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::loadConfig </td>
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<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>
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<a class="anchor" id="aba6ad2f5e7ba1725b1ba2256312ac202"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific" ref="aba6ad2f5e7ba1725b1ba2256312ac202" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)" -->
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<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) See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html" title="This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser sca...">hwdrivers::CSickLaserSerial</a> for the possible parameters. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ac867f9cb46c72b4386a5488f171f178f">mrpt::hwdrivers::CGenericSensor</a>.</p>
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<a class="anchor" id="ae90d3b0b79158e678ede1537e0a9e900"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::loadExclusionAreas" ref="ae90d3b0b79158e678ede1537e0a9e900" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)" -->
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<td class="memname">void mrpt::hwdrivers::C2DRangeFinderAbstract::loadExclusionAreas </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>
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<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>iniSection</em> </td>
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<td>)</td>
<td></td><td><code> [protected, inherited]</code></td>
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<p>Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). </p>
<p>This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".</p>
<ul>
<li>exclusionZoneu_x</li>
<li>exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:</li>
<li>exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.</li>
</ul>
<p>The number of zones is variable, but they must start at 1 and be consecutive. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a35e79cc5b9805cf868b3fdc909ec78eb" title="Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.">filterByExclusionAreas</a> </dd></dl>
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<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>frmt</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname"><em>...</em> </td>
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<td>)</td>
<td></td><td><code> [static, inherited]</code></td>
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<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<a class="anchor" id="a640e1b953865c3d2e881bbd2c1a81428"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::registerClass" ref="a640e1b953865c3d2e881bbd2c1a81428" args="(const TSensorClassId *pNewClass)" -->
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<td class="memname">static void mrpt::hwdrivers::CGenericSensor::registerClass </td>
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<td class="paramname"><em>pNewClass</em></td><td>)</td>
<td><code> [static, inherited]</code></td>
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<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>
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<a class="anchor" id="a1c825888d5ee232ebf34c65cccb29c4f"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK" ref="a1c825888d5ee232ebf34c65cccb29c4f" args="(const uint8_t *cmd, const uint16_t cmd_len)" -->
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<td class="memname">bool mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK </td>
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<td class="paramname"><em>cmd</em>, </td>
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<td class="paramtype">const uint16_t </td>
<td class="paramname"><em>cmd_len</em> </td>
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<td>)</td>
<td></td><td><code> [private]</code></td>
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<p>Send header+command-data+crc and waits for ACK. Return false on error. </p>
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<a class="anchor" id="a2825fb1dc6b654bf5b92837493bdf967"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::setBaudRate" ref="a2825fb1dc6b654bf5b92837493bdf967" args="(int baud)" -->
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<td class="memname">void mrpt::hwdrivers::CSickLaserSerial::setBaudRate </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>baud</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000. </p>
<p>This is not needed if the configuration is loaded with "loadConfig". </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a313d6933288717ec0645fb98831a90ea">getBaudRate</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00134">134</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="aff4b208b901763557196b9326901c582"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::setExternalImageFormat" ref="aff4b208b901763557196b9326901c582" args="(const std::string &ext)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat </td>
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<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>
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<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>
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<a class="anchor" id="aca05f7ee991ee112b5e9f8f289a9ee94"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::setExternalImageJPEGQuality" ref="aca05f7ee991ee112b5e9f8f289a9ee94" args="(const unsigned int quality)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality </td>
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<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>quality</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<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>
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<a class="anchor" id="a7dcc9c07fd4866677fde9a0904fcb153"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::setMillimeterMode" ref="a7dcc9c07fd4866677fde9a0904fcb153" args="(bool mm_mode=true)" -->
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<td class="memname">void mrpt::hwdrivers::CSickLaserSerial::setMillimeterMode </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>mm_mode</em> = <code>true</code></td><td>)</td>
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<p>Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00144">144</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="afa55ff06dbf360c8f631d371d6ebe35d"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::setPathForExternalImages" ref="afa55ff06dbf360c8f631d371d6ebe35d" args="(const std::string &directory)" -->
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<td class="memname">virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages </td>
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<td class="paramname"><em>directory</em></td><td>)</td>
<td><code> [inline, virtual, inherited]</code></td>
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<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>
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</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>
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<a class="anchor" id="a269cdcf7dc576930714791374ac8a7fc"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::setScanFOV" ref="a269cdcf7dc576930714791374ac8a7fc" args="(int fov_degrees)" -->
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<td class="memname">void mrpt::hwdrivers::CSickLaserSerial::setScanFOV </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>fov_degrees</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Set the scanning field of view - possible values are 100 or 180 (default) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00149">149</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a295f896117842895b47fe9daf10b6072"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::setScanResolution" ref="a295f896117842895b47fe9daf10b6072" args="(int res_1_100th_degree)" -->
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<td class="memname">void mrpt::hwdrivers::CSickLaserSerial::setScanResolution </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>res_1_100th_degree</em></td><td>)</td>
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<p>Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg. </p>
<p>(call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00155">155</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a044c1340c4b90957250f63fa89189036"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::setSensorLabel" ref="a044c1340c4b90957250f63fa89189036" args="(const std::string &sensorLabel)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::setSensorLabel </td>
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<td class="paramname"><em>sensorLabel</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<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>
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<a class="anchor" id="a5983b8c6b4ed4ea54af0096d3aa261a6"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::setSerialPort" ref="a5983b8c6b4ed4ea54af0096d3aa261a6" args="(const std::string &port)" -->
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<p>Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". </p>
<p>This is not needed if the configuration is loaded with "loadConfig". </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00126">126</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="ac2d59a30d982b74f017e8596788d9321"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms" ref="ac2d59a30d982b74f017e8596788d9321" args="(std::string *err_msg=NULL)" -->
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<td class="paramname"><em>err_msg</em> = <code>NULL</code></td><td>)</td>
<td><code> [private]</code></td>
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<p>Tries to open the com port and setup all the LMS protocol. Returns true if OK or already open. </p>
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<a class="anchor" id="a86c1d41cbc68f14437de57d4931e9a5a"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::turnOff" ref="a86c1d41cbc68f14437de57d4931e9a5a" args="()" -->
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<p>Disables the scanning mode (in this class this has no effect). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>If everything works "true", or "false" if there is any error. </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#af0e4d6b3051435e235e9f92924cce968">mrpt::hwdrivers::C2DRangeFinderAbstract</a>.</p>
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<a class="anchor" id="abf31dac14e8696603b0c43ba7c8c7840"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::turnOn" ref="abf31dac14e8696603b0c43ba7c8c7840" args="()" -->
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<p>Enables the scanning mode (in this class this has no effect). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>If everything works "true", or "false" if there is any error. </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a2ba583282b207b13ee413d0d001e9d1a">mrpt::hwdrivers::C2DRangeFinderAbstract</a>.</p>
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<a class="anchor" id="a83b8bd08883309e39ebabba74790ad7b"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::waitContinuousSampleFrame" ref="a83b8bd08883309e39ebabba74790ad7b" args="(std::vector< float > &ranges, unsigned char &LMS_status, bool &is_mm_mode)" -->
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<td class="paramname"><em>ranges</em>, </td>
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<td class="paramname"><em>LMS_status</em>, </td>
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<td class="paramname"><em>is_mm_mode</em> </td>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ad11dd629bc4f074ce9348d53ee556b7d"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::CRC16_GEN_POL" ref="ad11dd629bc4f074ce9348d53ee556b7d" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ad11dd629bc4f074ce9348d53ee556b7d">mrpt::hwdrivers::CSickLaserSerial::CRC16_GEN_POL</a><code> [static, private]</code></td>
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<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00082">82</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="ab20ee4c9b1caea9113a6abaffc02a1fb"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_com_baudRate" ref="ab20ee4c9b1caea9113a6abaffc02a1fb" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ab20ee4c9b1caea9113a6abaffc02a1fb">mrpt::hwdrivers::CSickLaserSerial::m_com_baudRate</a><code> [private]</code></td>
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<p>Baudrate: 9600, 38400, 500000. </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00104">104</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a155aebcdba964cabbd2e9398a529faef"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_com_port" ref="a155aebcdba964cabbd2e9398a529faef" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a155aebcdba964cabbd2e9398a529faef">mrpt::hwdrivers::CSickLaserSerial::m_com_port</a><code> [private]</code></td>
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<p>If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00102">102</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a7d153c5247b0180b6b9df5054d67b183"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_external_images_format" ref="a7d153c5247b0180b6b9df5054d67b183" args="" -->
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<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>
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<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>
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<a class="anchor" id="aeac331931fce4890793cd7f1b5f6eb3e"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_external_images_jpeg_quality" ref="aeac331931fce4890793cd7f1b5f6eb3e" args="" -->
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<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>
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<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>
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<a class="anchor" id="a587daaab2cb302eb4cc72eb1396d5f21"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_grab_decimation" ref="a587daaab2cb302eb4cc72eb1396d5f21" args="" -->
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<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>
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<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>
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<a class="anchor" id="a564a6c2bc7f1baaea9a9d90112a7b376"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_grab_decimation_counter" ref="a564a6c2bc7f1baaea9a9d90112a7b376" args="" -->
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<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>
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<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>
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<a class="anchor" id="a6f35448579bd4d27cd4f4685b31a8cc0"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_max_queue_len" ref="a6f35448579bd4d27cd4f4685b31a8cc0" args="" -->
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<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>
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<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>
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<a class="anchor" id="ae0d4030543a72a6ee3cc5e572616fc2c"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_mm_mode" ref="ae0d4030543a72a6ee3cc5e572616fc2c" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ae0d4030543a72a6ee3cc5e572616fc2c">mrpt::hwdrivers::CSickLaserSerial::m_mm_mode</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00075">75</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="ac2146dbe9d5ac4be74ed9cd1759557ec"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_mySerialPort" ref="ac2146dbe9d5ac4be74ed9cd1759557ec" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html">CSerialPort</a>* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#ac2146dbe9d5ac4be74ed9cd1759557ec">mrpt::hwdrivers::CSickLaserSerial::m_mySerialPort</a><code> [private]</code></td>
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<p>Will be !=NULL only if I created it, so I must destroy it at the end. </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00103">103</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a1233ac37b907cfcc0f5f69170be3821f"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_nTries_connect" ref="a1233ac37b907cfcc0f5f69170be3821f" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a1233ac37b907cfcc0f5f69170be3821f">mrpt::hwdrivers::CSickLaserSerial::m_nTries_connect</a><code> [private]</code></td>
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<p>Default = 1. </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00105">105</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a2078a713bc000637e418c613d62e0147"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_nTries_current" ref="a2078a713bc000637e418c613d62e0147" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a2078a713bc000637e418c613d62e0147">mrpt::hwdrivers::CSickLaserSerial::m_nTries_current</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00106">106</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="a06fe84426b813b9c1966c12bb69e6ee6"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_path_for_external_images" ref="a06fe84426b813b9c1966c12bb69e6ee6" args="" -->
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<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>
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<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>
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<a class="anchor" id="a77094b791971e8f42b94de34f4adb0f7"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_process_rate" ref="a77094b791971e8f42b94de34f4adb0f7" args="" -->
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<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>
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<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>
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<a class="anchor" id="acf56eaf7d798ca6efd4e539e2dfbb900"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_received_frame_buffer" ref="acf56eaf7d798ca6efd4e539e2dfbb900" args="[2000]" -->
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<td class="memname">uint8_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#acf56eaf7d798ca6efd4e539e2dfbb900">mrpt::hwdrivers::CSickLaserSerial::m_received_frame_buffer</a>[2000]<code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00100">100</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="afa1a3d09e5cc3c4613a2691843f938a6"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_scans_FOV" ref="afa1a3d09e5cc3c4613a2691843f938a6" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#afa1a3d09e5cc3c4613a2691843f938a6">mrpt::hwdrivers::CSickLaserSerial::m_scans_FOV</a><code> [private]</code></td>
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<p>100 or 180 deg </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00076">76</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="acd36ddf29b52a69dddb4f2576c1e7fa4"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_scans_res" ref="acd36ddf29b52a69dddb4f2576c1e7fa4" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#acd36ddf29b52a69dddb4f2576c1e7fa4">mrpt::hwdrivers::CSickLaserSerial::m_scans_res</a><code> [private]</code></td>
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<p>1/100th of deg: 100, 50 or 25 </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00077">77</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="accd4de8daeb5966c191fbc62a5d90355"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_sensorLabel" ref="accd4de8daeb5966c191fbc62a5d90355" args="" -->
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<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>
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<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>
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<a class="anchor" id="a204584b599c90ced77b8bd645b83ca98"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_sensorPose" ref="a204584b599c90ced77b8bd645b83ca98" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">poses::TPose3D</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a204584b599c90ced77b8bd645b83ca98">mrpt::hwdrivers::CSickLaserSerial::m_sensorPose</a><code> [private]</code></td>
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<p>The sensor 6D pose: </p>
<p>Definition at line <a class="el" href="_c_sick_laser_serial_8h_source.html#l00080">80</a> of file <a class="el" href="_c_sick_laser_serial_8h_source.html">CSickLaserSerial.h</a>.</p>
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<a class="anchor" id="ab3e8a003783acd03bfd64716640fd67c"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_state" ref="ab3e8a003783acd03bfd64716640fd67c" args="" -->
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<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>
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<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>
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<a class="anchor" id="acc3dd38ff320d03d0a2bce7e44e8a2d9"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserSerial::m_stream" ref="acc3dd38ff320d03d0a2bce7e44e8a2d9" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a>* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#acc3dd38ff320d03d0a2bce7e44e8a2d9">mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream</a><code> [protected, inherited]</code></td>
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<p>The I/O channel (will be NULL if not bound). </p>
<p>Definition at line <a class="el" href="_c2_d_range_finder_abstract_8h_source.html#l00081">81</a> of file <a class="el" href="_c2_d_range_finder_abstract_8h_source.html">C2DRangeFinderAbstract.h</a>.</p>
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<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>
