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<div class="title">C2DRangeFinderAbstract.h</div> </div>
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<a href="_c2_d_range_finder_abstract_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef C2DRangeFinderAbstract_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define C2DRangeFinderAbstract_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_stream_8h.html">mrpt/utils/CStream.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="synch_8h.html">mrpt/synch.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_observation2_d_range_scan_8h.html">mrpt/slam/CObservation2DRangeScan.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_config_file_base_8h.html">mrpt/utils/CConfigFileBase.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="preprocessor">#include <<a class="code" href="_c_polygon_8h.html">mrpt/math/CPolygon.h</a>></span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">namespace </span>mrpt
<a name="l00043"></a>00043 {
<a name="l00044"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html">00044</a> <span class="keyword">namespace </span>hwdrivers
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00047"></a>00047 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00048"></a>00048 <span class="comment"></span>
<a name="l00049"></a>00049 <span class="comment"> /** This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finders).</span>
<a name="l00050"></a>00050 <span class="comment"> * Physical devices may be interfaced through a serial port, a USB connection,etc. but this class</span>
<a name="l00051"></a>00051 <span class="comment"> * abstract those details throught the "binding" of the specific scanner driver to a given I/O channel,</span>
<a name="l00052"></a>00052 <span class="comment"> * which must be set by calling "hwdrivers::C2DRangeFinderAbstract::bindIO". See also the derived classes.</span>
<a name="l00053"></a>00053 <span class="comment"> *</span>
<a name="l00054"></a>00054 <span class="comment"> * There is support for "exclusion polygons", areas where points, if detected, should be marked as invalid.</span>
<a name="l00055"></a>00055 <span class="comment"> * Those areas are useful in cases where the scanner always detects part of the vehicle itself, and those</span>
<a name="l00056"></a>00056 <span class="comment"> * points want to be ignored (see C2DRangeFinderAbstract::loadExclusionAreas).</span>
<a name="l00057"></a>00057 <span class="comment"> *</span>
<a name="l00058"></a>00058 <span class="comment"> * \sa hwdrivers::CSerialPort</span>
<a name="l00059"></a>00059 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00060"></a>00060 <span class="comment"> */</span>
<a name="l00061"></a>00061 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> C2DRangeFinderAbstract : <span class="keyword">public</span> mrpt::utils::<a class="code" 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...">CDebugOutputCapable</a>, <span class="keyword">public</span> mrpt::hwdrivers::<a class="code" 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 name="l00062"></a>00062 {
<a name="l00063"></a>00063 <span class="keyword">private</span>:
<a name="l00064"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#ad8273662951fa8c9fe0706a474dc6a00">00064</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#ad8273662951fa8c9fe0706a474dc6a00">m_lastObservation</a>;
<a name="l00065"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a9a14fa2df55ad5bd3ef754ec6d4095eb">00065</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a9a14fa2df55ad5bd3ef754ec6d4095eb">m_lastObservationIsNew</a>;
<a name="l00066"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#ad74542126d95c742f649e16d2e706efc">00066</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#ad74542126d95c742f649e16d2e706efc">m_hardwareError</a>;
<a name="l00067"></a>00067 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** For being thread-safe.</span>
<a name="l00069"></a>00069 <span class="comment"> */</span>
<a name="l00070"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#ac18e5dc16ca2fb0f4e5bdc0cf610cd26">00070</a> synch::CCriticalSection m_csChangeStream,<a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#ac18e5dc16ca2fb0f4e5bdc0cf610cd26">m_csLastObservation</a>;
<a name="l00071"></a>00071
<a name="l00072"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a48d7603d472dddf0255ac31ac78555bf">00072</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation2_d_range_scan_ptr.html">CObservation2DRangeScanPtr</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a48d7603d472dddf0255ac31ac78555bf" title="A dynamic object used as buffer in doProcess.">m_nextObservation</a>; <span class="comment">//!< A dynamic object used as buffer in doProcess</span>
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a58b91d287428ed5b29a2b5937877f2af">00074</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a>::TListExclusionAreasWithRanges <a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a58b91d287428ed5b29a2b5937877f2af" title="A list of optional exclusion polygons, in coordinates relative to the vehicle, that is...">m_lstExclusionPolys</a>; <span class="comment">//!< A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".</span>
<a name="l00075"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a4409399b0b16040971813bc3ea9a658b">00075</a> <span class="comment"></span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<std::pair<double,double></a> > <a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#a4409399b0b16040971813bc3ea9a658b" title="A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will ...">m_lstExclusionAngles</a>; <span class="comment">//!< A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.</span>
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** The I/O channel (will be NULL if not bound).</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#acc3dd38ff320d03d0a2bce7e44e8a2d9">00081</a> utils<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">::CStream</a> *<a class="code" href="classmrpt_1_1hwdrivers_1_1_c2_d_range_finder_abstract.html#acc3dd38ff320d03d0a2bce7e44e8a2d9" title="The I/O channel (will be NULL if not bound).">m_stream</a>;
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).</span>
<a name="l00084"></a>00084 <span class="comment"> * 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".</span>
<a name="l00085"></a>00085 <span class="comment"> * - exclusionZone%u_x</span>
<a name="l00086"></a>00086 <span class="comment"> * - exclusionZone%u_y</span>
<a name="l00087"></a>00087 <span class="comment"> * for %u=1,2,3,...</span>
<a name="l00088"></a>00088 <span class="comment"> * All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:</span>
<a name="l00089"></a>00089 <span class="comment"> * - exclusionZone%u_z=[z_min z_max]</span>
<a name="l00090"></a>00090 <span class="comment"> * In that case, only the points within the 2D polygon AND the given range in Z will be ignored.</span>
<a name="l00091"></a>00091 <span class="comment"> *</span>
<a name="l00092"></a>00092 <span class="comment"> * The number of zones is variable, but they must start at 1 and be consecutive.</span>
<a name="l00093"></a>00093 <span class="comment"> * \sa filterByExclusionAreas</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <span class="keywordtype">void</span> loadExclusionAreas(
<a name="l00096"></a>00096 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &configSource,
<a name="l00097"></a>00097 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &iniSection );
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.</span>
<a name="l00100"></a>00100 <span class="comment"> * \sa loadExclusionAreas</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <span class="keywordtype">void</span> filterByExclusionAreas( <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> &obs) <span class="keyword">const</span>;
<a name="l00103"></a>00103 <span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /** Mark as invalid those ranges in a set of forbiden angle ranges.</span>
<a name="l00105"></a>00105 <span class="comment"> * \sa loadExclusionAreas</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a>00107 <span class="keywordtype">void</span> filterByExclusionAngles( <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> &obs) <span class="keyword">const</span>;
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="keyword">public</span>:
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Default constructor</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 C2DRangeFinderAbstract();
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Destructor</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <span class="keyword">virtual</span> ~C2DRangeFinderAbstract();
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Binds the object to a given I/O channel.</span>
<a name="l00120"></a>00120 <span class="comment"> * The stream object must not be deleted before the destruction of this class.</span>
<a name="l00121"></a>00121 <span class="comment"> * \sa hwdrivers::CSerialPort</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a>00123 <span class="keywordtype">void</span> bindIO( <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> *streamIO );
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** 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).</span>
<a name="l00126"></a>00126 <span class="comment"> */</span>
<a name="l00127"></a>00127 <span class="keywordtype">void</span> getObservation(
<a name="l00128"></a>00128 <span class="keywordtype">bool</span> &outThereIsObservation,
<a name="l00129"></a>00129 <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> &outObservation,
<a name="l00130"></a>00130 <span class="keywordtype">bool</span> &hardwareError );
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** Main method for a CGenericSensor</span>
<a name="l00133"></a>00133 <span class="comment"> */</span>
<a name="l00134"></a>00134 <span class="keywordtype">void</span> doProcess();
<a name="l00135"></a>00135 <span class="comment"></span>
<a name="l00136"></a>00136 <span class="comment"> /** Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.</span>
<a name="l00137"></a>00137 <span class="comment"> * This method MUST BE CALLED in a timely fashion by the user to allow the proccessing of incoming data. It can be run in a different thread safely.</span>
<a name="l00138"></a>00138 <span class="comment"> */</span>
<a name="l00139"></a>00139 <span class="keyword">virtual</span> <span class="keywordtype">void</span> doProcessSimple(
<a name="l00140"></a>00140 <span class="keywordtype">bool</span> &outThereIsObservation,
<a name="l00141"></a>00141 <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> &outObservation,
<a name="l00142"></a>00142 <span class="keywordtype">bool</span> &hardwareError ) = 0;
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment"> /** Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.</span>
<a name="l00145"></a>00145 <span class="comment"> * \return If everything works "true", or "false" if there is any error.</span>
<a name="l00146"></a>00146 <span class="comment"> */</span>
<a name="l00147"></a>00147 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> turnOn() = 0;
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** Disables the scanning mode (this can be used to turn the device in low energy mode, if available)</span>
<a name="l00150"></a>00150 <span class="comment"> * \return If everything works "true", or "false" if there is any error.</span>
<a name="l00151"></a>00151 <span class="comment"> */</span>
<a name="l00152"></a>00152 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> turnOff() = 0;
<a name="l00153"></a>00153
<a name="l00154"></a>00154
<a name="l00155"></a>00155 }; <span class="comment">// End of class</span>
<a name="l00156"></a>00156 } <span class="comment">// End of namespace</span>
<a name="l00157"></a>00157 } <span class="comment">// End of namespace</span>
<a name="l00158"></a>00158
<a name="l00159"></a>00159
<a name="l00160"></a>00160 <span class="preprocessor">#endif</span>
</pre></div></div>
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