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<div class="title">CIbeoLuxETH.h</div> </div>
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<a href="_c_ibeo_lux_e_t_h_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) 2005-2010 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 CIbeoLuxETH_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CIbeoLuxETH_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_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_point3_d_8h.html">mrpt/poses/CPoint3D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_observation3_d_range_scan_8h.html">mrpt/slam/CObservation3DRangeScan.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_client_t_c_p_socket_8h.html">mrpt/utils/CClientTCPSocket.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>hwdrivers
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">using namespace </span>std;
<a name="l00042"></a>00042 <span class="keyword">using namespace </span>mrpt::hwdrivers;
<a name="l00043"></a>00043 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00044"></a>00044 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00045"></a>00045 <span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanners through an ethernet controller.</span>
<a name="l00047"></a>00047 <span class="comment"> * This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO.</span>
<a name="l00048"></a>00048 <span class="comment"> * Connection is established when user call the turnOn() method. You can pass to the class's constructor the Lux's ip address and port.</span>
<a name="l00049"></a>00049 <span class="comment"> * Device will NOT be configured. Configuration has to be done seperately.</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * To get a laser scan you must proceed like that :</span>
<a name="l00052"></a>00052 <span class="comment"> * \code</span>
<a name="l00053"></a>00053 <span class="comment"> * CIbeoLuxETH laser(string("192.168.0.10"), 1234);</span>
<a name="l00054"></a>00054 <span class="comment"> * laser.turnOn();</span>
<a name="l00055"></a>00055 <span class="comment"> * bool isOutObs, hardwareError;</span>
<a name="l00056"></a>00056 <span class="comment"> * CObservation2DRangeScan outObs;</span>
<a name="l00057"></a>00057 <span class="comment"> * laser.doProcessSimple(isOutObs, outObs, hardwareError);</span>
<a name="l00058"></a>00058 <span class="comment"> * \endcode</span>
<a name="l00059"></a>00059 <span class="comment"> *</span>
<a name="l00060"></a>00060 <span class="comment"> * \note This class was contributed by Adrien Barral - Robopec (France)</span>
<a name="l00061"></a>00061 <span class="comment"> * \note And modified by Jan Girlich - University of Hamburg</span>
<a name="l00062"></a>00062 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a>00064 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html" title="This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanner...">CIbeoLuxETH</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="l00065"></a>00065 {
<a name="l00066"></a>00066 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...">DEFINE_GENERIC_SENSOR</a>(<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html" title="This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanner...">CIbeoLuxETH</a>)
<a name="l00067"></a>00067
<a name="l00068"></a>00068 public:<span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /** Constructor.</span>
<a name="l00070"></a>00070 <span class="comment"> * Note that there is default arguments, here you can customize IP Adress and TCP Port of your device.</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a>00072 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html" title="This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanner...">CIbeoLuxETH</a>(<span class="keywordtype">string</span> _ip=<span class="keywordtype">string</span>("10.152.36.93"), <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _port=12002);<span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Destructor.</span>
<a name="l00074"></a>00074 <span class="comment"> * Close communcation with the device, and free memory.</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 virtual ~<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html" title="This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanner...">CIbeoLuxETH</a>();<span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** This function acquire a laser scan from the device. If an error occured, hardwareError will be set to true.</span>
<a name="l00078"></a>00078 <span class="comment"> * The new laser scan will be stored in the outObservation argument.</span>
<a name="l00079"></a>00079 <span class="comment"> *</span>
<a name="l00080"></a>00080 <span class="comment"> * \exception This method throw exception if the frame received from the LMS 100 contain the following bad parameters :</span>
<a name="l00081"></a>00081 <span class="comment"> * * Status is not OK</span>
<a name="l00082"></a>00082 <span class="comment"> * * Data in the scan aren't DIST1 (may be RSSIx or DIST2).</span>
<a name="l00083"></a>00083 <span class="comment"> */</span>
<a name="l00084"></a>00084 <span class="keywordtype">void</span> doProcess();
<a name="l00085"></a>00085 <span class="keywordtype">void</span> initialize();
<a name="l00086"></a>00086 <span class="keywordtype">void</span> start();
<a name="l00087"></a>00087 <span class="keywordtype">void</span> makeCommandHeader(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* buffer);
<a name="l00088"></a>00088 <span class="keywordtype">void</span> makeStartCommand(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* buffer);
<a name="l00089"></a>00089 <span class="keywordtype">void</span> makeStopCommand(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* buffer);
<a name="l00090"></a>00090 <span class="keywordtype">void</span> makeTypeCommand(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* buffer);
<a name="l00091"></a>00091
<a name="l00092"></a>00092 private :
<a name="l00093"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#ab5b8ee27d77a1c63e916e22b34a4edc6">00093</a> <span class="keywordtype">string</span> m_ip;
<a name="l00094"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#aa0c9e807a4588f7c9b59b3ba338096dd">00094</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m_port;
<a name="l00095"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#ac809b4cd5d65bd9b585209081c9735eb">00095</a> <a class="code" href="classmrpt_1_1utils_1_1_c_client_t_c_p_socket.html" title="A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing...">CClientTCPSocket</a> m_client;
<a name="l00096"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#a25f5c52621a176e5930f48d3b2f95c19">00096</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m_scanFrequency; <span class="comment">// in hertz</span>
<a name="l00097"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#a73bb6344e80c79b73c90eff2b88213a9">00097</a> <span class="keywordtype">double</span> m_angleResolution; <span class="comment">// in degrees</span>
<a name="l00098"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#a948f7a92f3bf3183c9ff1a2ed2bbfeec">00098</a> <span class="keywordtype">double</span> m_startAngle; <span class="comment">// degrees</span>
<a name="l00099"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#ae0be5ad11411727d65672f84c8309cdc">00099</a> <span class="keywordtype">double</span> m_stopAngle; <span class="comment">// degrees</span>
<a name="l00100"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#a8a6e69e3625bed5c599b5e04e603f505">00100</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> m_sensorPose;
<a name="l00101"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#ab548346a227f3f59335802af64587811">00101</a> <span class="keywordtype">double</span> m_maxRange;
<a name="l00102"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#aa669f18ea566c2ff9afb2fdc7220b33a">00102</a> <span class="keywordtype">double</span> m_beamApperture;
<a name="l00103"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#afece98f2995ddb5d3bffe46ddeed02bb">00103</a> <span class="keywordtype">bool</span> m_run;
<a name="l00104"></a>00104 <span class="keywordtype">void</span> dataCollection();
<a name="l00105"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#a6685e879a8767245ed3ee64baa705d57">00105</a> mrpt::system::<a class="code" href="structmrpt_1_1system_1_1_t_thread_handle.html" title="This structure contains the information needed to interface the threads API on each platform:...">TThreadHandle</a> dataCollectionThread;
<a name="l00106"></a>00106 <span class="keywordtype">float</span> convertLayerToRad(<span class="keywordtype">int</span> scanlayer);
<a name="l00107"></a>00107 <span class="keywordtype">float</span> convertTicksToHRad(<span class="keywordtype">int</span> hticks, <span class="keywordtype">int</span> hticksPerRotation);
<a name="l00108"></a>00108 <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> convertToCartesian(<span class="keywordtype">float</span> vrad, <span class="keywordtype">float</span> hrad, <span class="keywordtype">float</span> <a class="code" href="group__geometry__grp.html#ga8c0a76e906f12560cfa49fcd269c8398" title="Gets the distance between two points in a 2D space.">distance</a>);
<a name="l00109"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#af2ae16ccf2956717f77240ac1e881598">00109</a> <span class="keywordtype">float</span> vwinkel;
<a name="l00110"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#a0692dee1c56fa9dc136d63e43b69082f">00110</a> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a>> m_observations;
<a name="l00111"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#ac9a063aebf7d7e1535cd1288df63f798">00111</a> <span class="keywordtype">bool</span> m_newObs;
<a name="l00112"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#a2b7d95ccdb1267058290913745b8d9b1">00112</a> <span class="keywordtype">float</span> m_vAngle;
<a name="l00113"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#a7ae4054cf50db2a96d5f2880eb0be1f8">00113</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lastScanNumber;
<a name="l00114"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html#ae764987b6218df798404f32684ed2e39">00114</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> curScanNumber;
<a name="l00115"></a>00115
<a name="l00116"></a>00116 protected:<span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Load sensor pose on the robot, or keep the default sensor pose.</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a>00119 <span class="keywordtype">void</span> loadConfig_sensorSpecific(const mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">CConfigFileBase</a> &configSource,
<a name="l00120"></a>00120 const std::<span class="keywordtype">string</span> &iniSection );
<a name="l00121"></a>00121
<a name="l00122"></a>00122 };
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="preprocessor">#endif</span>
</pre></div></div>
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