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<title>mrpt::hwdrivers::CSickLaserUSB Class Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html">CSickLaserUSB</a> </li>
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<div class="title">mrpt::hwdrivers::CSickLaserUSB 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::CSickLaserUSB" --><!-- 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 LMS2XX laser scanners through a custom USB RS-422 interface board. </p>
<p>NOTE that this class is for a custom hardware built at our lab (MAPIR, University of Malaga). For a generic serial interface, see the class <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...">CSickLaserSerial</a>.</p>
<p>This class does not need to be bind, i.e. you do not need to call <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>. However, calling it will have not effect. In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use. The serial number of the USB device is used to open it on the first call to "doProcess", thus you must call "loadConfig" before this, or manually call "setDeviceSerialNumber". The default serial number is "LASER001"</p>
<p>Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like USB interface DLL not found, etc...)</p>
<div class="fragment"><pre class="fragment"> PARAMETERS IN THE <span class="stringliteral">".INI"</span>-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
SICKUSB_serialNumber=LASER001
pose_x=0.21 ; Laser range scaner 3D position in the robot (meters)
pose_y=0
pose_z=0.34
pose_yaw=0 ; Angles in degrees
pose_pitch=0
pose_roll=0
</pre></div> </div>
<p><code>#include <<a class="el" href="_c_sick_laser_u_s_b_8h_source.html">mrpt/hwdrivers/CSickLaserUSB.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CSickLaserUSB:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b_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_u_s_b-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_u_s_b.html#a881439c7186d363498eb70f95e432018">CSickLaserUSB</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a881439c7186d363498eb70f95e432018"></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_u_s_b.html#a05a38a62f916e3dd52d4491689fbb2f6">~CSickLaserUSB</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a05a38a62f916e3dd52d4491689fbb2f6"></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_u_s_b.html#a633c2d058c932e61bed5c32b37fae936">setDeviceSerialNumber</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &deviceSerialNumber)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the serial number of the device to open (call prior to 'doProcess') <a href="#a633c2d058c932e61bed5c32b37fae936"></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_u_s_b.html#aad0ff00d371e24cf788d6416c9cb9db0">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="#aad0ff00d371e24cf788d6416c9cb9db0"></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_u_s_b.html#a14ef766888f4314e35ef9e31b23581e2">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="#a14ef766888f4314e35ef9e31b23581e2"></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_u_s_b.html#a26ea60c28b95716d6f41f7a099e698c8">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="#a26ea60c28b95716d6f41f7a099e698c8"></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">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a775782a8fef4c5cd11265024431ed8c3">initialize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method can or cannot be implemented in the derived class, depending on the need for it. <a href="#a775782a8fef4c5cd11265024431ed8c3"></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_u_s_b.html#a7273e56faad24b134aad0e0baa9b7a3d">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_u_s_b.html" title="This "software driver" implements the communication protocol for interfacing a SICK LMS2XX laser scan...">hwdrivers::CSickLaserUSB</a> for the possible parameters. <a href="#a7273e56faad24b134aad0e0baa9b7a3d"></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_u_s_b.html#a698d6721340a2efa91ae15b40cbe4063">checkControllerIsConnected</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_u_s_b.html#acbbb8b19f714750c57e3e5a1cd99b4e3">waitContinuousSampleFrame</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< float > &ranges, unsigned char &LMS_status, uint32_t &out_board_timestamp, bool &is_mm_mode)</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"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html">CInterfaceFTDI</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#aebc4d4acd8db51026253e78a8a30ef00">m_usbConnection</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_sick_laser_u_s_b.html#a22503c4f5011dda2dd2a7a8f40c35613">m_serialNumber</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#ab1666a19358783c5c5b904980d6c744d">m_timeStartUI</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Time of the first data packet, for synchronization purposes. <a href="#ab1666a19358783c5c5b904980d6c744d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#ac18fff2b160f69d8594cfd30799ae4d3">m_timeStartTT</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">poses::CPose3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#a5a36dfda12732e0541dee9d7d6df6f98">m_sensorPose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The sensor 6D pose: <a href="#a5a36dfda12732e0541dee9d7d6df6f98"></a><br/></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="af237beee1de7f3e5733e305921695b30"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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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<a class="anchor" id="a78712e0c40c510978fb8589774056ab3"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::TListObsPair" ref="a78712e0c40c510978fb8589774056ab3" args="" -->
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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::CSickLaserUSB::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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<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="a881439c7186d363498eb70f95e432018"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB" ref="a881439c7186d363498eb70f95e432018" args="()" -->
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<td class="memname">mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB </td>
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<p>Constructor. </p>
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<a class="anchor" id="a05a38a62f916e3dd52d4491689fbb2f6"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::~CSickLaserUSB" ref="a05a38a62f916e3dd52d4491689fbb2f6" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CSickLaserUSB::~CSickLaserUSB </td>
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<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::CSickLaserUSB::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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<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::CSickLaserUSB::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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<td class="paramtype">const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [protected, inherited]</code></td>
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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::CSickLaserUSB::bindIO" ref="a9b619b52c015385fc16bfd213d39fd1c" args="(CStream *streamIO)" -->
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<td class="memname">void mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> * </td>
<td class="paramname"><em>streamIO</em></td><td>)</td>
<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="a698d6721340a2efa91ae15b40cbe4063"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected" ref="a698d6721340a2efa91ae15b40cbe4063" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [private]</code></td>
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<a class="anchor" id="ab652d017225fff3050a607f4461b0484"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>className</em></td><td>)</td>
<td><code> [static, inherited]</code></td>
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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::CSickLaserUSB::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>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>className</em></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
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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::CSickLaserUSB::doProcess" ref="a9ab22161d6d802bcd5c8b609fb8a6b54" args="()" -->
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<td class="memname">void mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess </td>
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<td class="paramname"></td><td>)</td>
<td><code> [virtual, inherited]</code></td>
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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="aad0ff00d371e24cf788d6416c9cb9db0"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::doProcessSimple" ref="aad0ff00d371e24cf788d6416c9cb9db0" args="(bool &outThereIsObservation, mrpt::slam::CObservation2DRangeScan &outObservation, bool &hardwareError)" -->
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<td class="memname">void mrpt::hwdrivers::CSickLaserUSB::doProcessSimple </td>
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<td class="paramtype">bool & </td>
<td class="paramname"><em>outThereIsObservation</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a> & </td>
<td class="paramname"><em>outObservation</em>, </td>
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<td class="paramtype">bool & </td>
<td class="paramname"><em>hardwareError</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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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::CSickLaserUSB::filterByExclusionAngles" ref="a6a5778b1c951524c68f83d3735e60b6f" args="(CObservation2DRangeScan &obs) const " -->
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<td class="memname">void mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles </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>
<td class="paramname"><em>obs</em></td><td>)</td>
<td> const<code> [protected, inherited]</code></td>
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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::CSickLaserUSB::filterByExclusionAreas" ref="a35e79cc5b9805cf868b3fdc909ec78eb" args="(CObservation2DRangeScan &obs) const " -->
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<td class="memname">void mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas </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>
<td class="paramname"><em>obs</em></td><td>)</td>
<td> const<code> [protected, inherited]</code></td>
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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="a9d5aecec9f302feede271c9f1425a323"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::getExternalImageJPEGQuality" ref="a9d5aecec9f302feede271c9f1425a323" args="() const " -->
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<td class="memname">unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality </td>
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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::CSickLaserUSB::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">bool & </td>
<td class="paramname"><em>outThereIsObservation</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> & </td>
<td class="paramname"><em>outObservation</em>, </td>
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<td class="paramtype">bool & </td>
<td class="paramname"><em>hardwareError</em> </td>
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<td>)</td>
<td></td><td><code> [inherited]</code></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::CSickLaserUSB::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::CSickLaserUSB::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::CSickLaserUSB::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>
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<td class="paramname"></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<a class="anchor" id="af3cd061ca684e7ddf5949ed78fced7c9"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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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<td> const<code> [inline, inherited]</code></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="a0bd667caedc6a313d96c232bf75ba577"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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="a775782a8fef4c5cd11265024431ed8c3"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::initialize" ref="a775782a8fef4c5cd11265024431ed8c3" args="()" -->
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<td class="memname">virtual void mrpt::hwdrivers::CGenericSensor::initialize </td>
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<p>This method can or cannot be implemented in the derived class, depending on the need for it. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
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<p>Reimplemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_kinect.html#ab369f01d9b65a53910442ae3da04bbcf">mrpt::hwdrivers::CKinect</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html#ab6c7443ec4fc700a10d3f7840ef22f01">mrpt::hwdrivers::CCameraSensor</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html#a4074cd3efda8a33671353fd357d46f43">mrpt::hwdrivers::CSickLaserSerial</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_hokuyo.html#a0adb0eea57c2260c11004984fc0e3202">mrpt::hwdrivers::CPtuHokuyo</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_hokuyo_u_r_g.html#aa59ba12bc09efa95df4e84b8b0982bca">mrpt::hwdrivers::CHokuyoURG</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a48867ea4696d2c8d73b3334c37e7fe4f">mrpt::hwdrivers::CBoardENoses</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html#a022462e21648c8cb02a80bee3d397ef4">mrpt::hwdrivers::CGyroKVHDSP3000</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_l_m_s100_eth.html#ae57ec60cca05cb6c21475821a160297a">mrpt::hwdrivers::CLMS100Eth</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_d_l_m_s.html#aaf906fe3a1cebfe42ca82281a8315139">mrpt::hwdrivers::CBoardDLMS</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a480bd45081d7c56bfe425acda4488a97">mrpt::hwdrivers::CSwissRanger3DCamera</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#abb9c183575154bdf75587703f18990d6">mrpt::hwdrivers::CIMUXSens</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#ac4953fcec4eb353c66683e69fe4b1fb7">mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html#ab7dea7c6896e6b72744a1fdabd508779">mrpt::hwdrivers::CNTRIPEmitter</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#abdebc0341c7eb478a84ea859c15e9997">mrpt::hwdrivers::CActivMediaRobotBase</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#a5b582dff2d7025a951578256de57420a">mrpt::hwdrivers::CIbeoLuxETH</a>.</p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00209">209</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="a6f34c5b79a128d1cb6b47eaa987ecb51"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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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<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>section</em> </td>
</tr>
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<td>)</td>
<td></td><td><code> [inherited]</code></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>
<table class="exception">
<tr><td class="paramname">This</td><td>method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. </td></tr>
</table>
</dd>
</dl>
</p>
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<a class="anchor" id="a7273e56faad24b134aad0e0baa9b7a3d"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific" ref="a7273e56faad24b134aad0e0baa9b7a3d" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)" -->
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<td class="memname">void mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>configSource</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>iniSection</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual]</code></td>
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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_u_s_b.html" title="This "software driver" implements the communication protocol for interfacing a SICK LMS2XX laser scan...">hwdrivers::CSickLaserUSB</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::CSickLaserUSB::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>
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<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></td>
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<td class="paramname"><em>iniSection</em> </td>
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<td>)</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::CSickLaserUSB::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>
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<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::CSickLaserUSB::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="a633c2d058c932e61bed5c32b37fae936"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::setDeviceSerialNumber" ref="a633c2d058c932e61bed5c32b37fae936" args="(const std::string &deviceSerialNumber)" -->
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<td class="memname">void mrpt::hwdrivers::CSickLaserUSB::setDeviceSerialNumber </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>deviceSerialNumber</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Changes the serial number of the device to open (call prior to 'doProcess') </p>
<p>Definition at line <a class="el" href="_c_sick_laser_u_s_b_8h_source.html#l00104">104</a> of file <a class="el" href="_c_sick_laser_u_s_b_8h_source.html">CSickLaserUSB.h</a>.</p>
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<a class="anchor" id="aff4b208b901763557196b9326901c582"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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::CSickLaserUSB::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="afa55ff06dbf360c8f631d371d6ebe35d"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>directory</em></td><td>)</td>
<td><code> [inline, virtual, inherited]</code></td>
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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="a044c1340c4b90957250f63fa89189036"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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="a26ea60c28b95716d6f41f7a099e698c8"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::turnOff" ref="a26ea60c28b95716d6f41f7a099e698c8" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CSickLaserUSB::turnOff </td>
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<td><code> [virtual]</code></td>
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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="a14ef766888f4314e35ef9e31b23581e2"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::turnOn" ref="a14ef766888f4314e35ef9e31b23581e2" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CSickLaserUSB::turnOn </td>
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<td><code> [virtual]</code></td>
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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="acbbb8b19f714750c57e3e5a1cd99b4e3"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame" ref="acbbb8b19f714750c57e3e5a1cd99b4e3" args="(std::vector< float > &ranges, unsigned char &LMS_status, uint32_t &out_board_timestamp, bool &is_mm_mode)" -->
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<td class="memname">bool mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame </td>
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<td class="paramname"><em>ranges</em>, </td>
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<td class="paramtype">unsigned char & </td>
<td class="paramname"><em>LMS_status</em>, </td>
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<td class="paramtype">uint32_t & </td>
<td class="paramname"><em>out_board_timestamp</em>, </td>
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<td class="paramtype">bool & </td>
<td class="paramname"><em>is_mm_mode</em> </td>
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<td>)</td>
<td></td><td><code> [private]</code></td>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a7d153c5247b0180b6b9df5054d67b183"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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::CSickLaserUSB::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::CSickLaserUSB::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::CSickLaserUSB::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::CSickLaserUSB::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="a06fe84426b813b9c1966c12bb69e6ee6"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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::CSickLaserUSB::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="accd4de8daeb5966c191fbc62a5d90355"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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="a5a36dfda12732e0541dee9d7d6df6f98"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::m_sensorPose" ref="a5a36dfda12732e0541dee9d7d6df6f98" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">poses::CPose3D</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#a5a36dfda12732e0541dee9d7d6df6f98">mrpt::hwdrivers::CSickLaserUSB::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_u_s_b_8h_source.html#l00080">80</a> of file <a class="el" href="_c_sick_laser_u_s_b_8h_source.html">CSickLaserUSB.h</a>.</p>
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<a class="anchor" id="a22503c4f5011dda2dd2a7a8f40c35613"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::m_serialNumber" ref="a22503c4f5011dda2dd2a7a8f40c35613" 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_u_s_b.html#a22503c4f5011dda2dd2a7a8f40c35613">mrpt::hwdrivers::CSickLaserUSB::m_serialNumber</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_sick_laser_u_s_b_8h_source.html#l00073">73</a> of file <a class="el" href="_c_sick_laser_u_s_b_8h_source.html">CSickLaserUSB.h</a>.</p>
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<a class="anchor" id="ab3e8a003783acd03bfd64716640fd67c"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::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::CSickLaserUSB::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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<a class="anchor" id="ac18fff2b160f69d8594cfd30799ae4d3"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::m_timeStartTT" ref="ac18fff2b160f69d8594cfd30799ae4d3" args="" -->
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<td class="memname"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#ac18fff2b160f69d8594cfd30799ae4d3">mrpt::hwdrivers::CSickLaserUSB::m_timeStartTT</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_sick_laser_u_s_b_8h_source.html#l00076">76</a> of file <a class="el" href="_c_sick_laser_u_s_b_8h_source.html">CSickLaserUSB.h</a>.</p>
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<a class="anchor" id="ab1666a19358783c5c5b904980d6c744d"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::m_timeStartUI" ref="ab1666a19358783c5c5b904980d6c744d" args="" -->
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<td class="memname">uint32_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#ab1666a19358783c5c5b904980d6c744d">mrpt::hwdrivers::CSickLaserUSB::m_timeStartUI</a><code> [private]</code></td>
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<p>Time of the first data packet, for synchronization purposes. </p>
<p>Definition at line <a class="el" href="_c_sick_laser_u_s_b_8h_source.html#l00075">75</a> of file <a class="el" href="_c_sick_laser_u_s_b_8h_source.html">CSickLaserUSB.h</a>.</p>
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<a class="anchor" id="aebc4d4acd8db51026253e78a8a30ef00"></a><!-- doxytag: member="mrpt::hwdrivers::CSickLaserUSB::m_usbConnection" ref="aebc4d4acd8db51026253e78a8a30ef00" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html">CInterfaceFTDI</a>* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#aebc4d4acd8db51026253e78a8a30ef00">mrpt::hwdrivers::CSickLaserUSB::m_usbConnection</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_sick_laser_u_s_b_8h_source.html#l00072">72</a> of file <a class="el" href="_c_sick_laser_u_s_b_8h_source.html">CSickLaserUSB.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>
