#include <RangeSens.h>
Public Member Functions | |
virtual ResourcePlate | getPlate () const =0 |
Get the plate. | |
RangeSens (int argc, const char *argv[]) | |
Default constructor. | |
~RangeSens () | |
Destructor. | |
RangeSensPar * | par () |
Get parameter pointer. | |
RangeSensmmPar * | parmm () |
Get parameter in mm pointer. | |
bool | getScanType (ScanTypes &type) |
Get Scan type. A wrapper of the getScanType function of the scan. | |
bool | updatedScan (Scan &s) |
Get an updated scan. | |
void | startScan (unsigned int num) |
Start a continuous scan. | |
void | stopScan () |
Stop a continuous scan. | |
bool | storedScan (Scan &s, Time timeout) |
Get the last stored scan, if a continuous scanning is in act the scan is updated. | |
void | getFixedBearings () |
Gets the fixed bearings of the RangeSens. | |
Protected Member Functions | |
virtual Scan | _singleScan ()=0 |
Get a single Scan. | |
virtual void | _startScan (unsigned int num)=0 |
Start a continuous scaninning. | |
virtual void | _stopScan ()=0 |
Stop a continuous scaninning. | |
Protected Attributes | |
RangeSensPar * | _par |
Parameters. | |
RangeSensmmPar * | _parmm |
Parameters in mm. | |
Scan | _scan |
Current scan. | |
bool | on |
Every inerithed class constructor must set this flag to true. | |
vector< Angle > * | _fixedBearings |
If useFixedBearings and scan in meters, this vector contains the bearings. | |
vector< Anglem > * | _fixedBearingsmm |
If useFixedBearings and scan in millimeters, this vector contains the bearings. | |
bool | useFixedBearings |
Says if use fixed bearings or bearings can change in different scans. | |
RangeSensOptions | _rangeSensOptions |
Options for the generic range sensor. |
MipResources::RangeSens::RangeSens | ( | int | argc, | |
const char * | argv[] | |||
) |
Default constructor.
Default constructor.
MipResources::RangeSens::~RangeSens | ( | ) |
Destructor.
virtual Scan MipResources::RangeSens::_singleScan | ( | ) | [protected, pure virtual] |
Get a single Scan.
Implemented in MipResources::RemoteRangeSens, MipResources::TCRT5000, MipResources::URG04LX, and MipResources::URG04LXmm.
virtual void MipResources::RangeSens::_startScan | ( | unsigned int | num | ) | [protected, pure virtual] |
Start a continuous scaninning.
num | number of scan to perform, (0 means unbounded) |
Implemented in MipResources::RemoteRangeSens, MipResources::TCRT5000, MipResources::URG04LX, and MipResources::URG04LXmm.
virtual void MipResources::RangeSens::_stopScan | ( | ) | [protected, pure virtual] |
Stop a continuous scaninning.
Implemented in MipResources::RemoteRangeSens, MipResources::TCRT5000, MipResources::URG04LX, and MipResources::URG04LXmm.
virtual ResourcePlate MipResources::RangeSens::getPlate | ( | ) | const [pure virtual] |
Get the plate.
Implements MipResources::Resource.
Implemented in MipResources::RemoteRangeSens, MipResources::TCRT5000, MipResources::URG04LX, and MipResources::URG04LXmm.
RangeSensPar * MipResources::RangeSens::par | ( | void | ) |
Get parameter pointer.
RangeSensmmPar * MipResources::RangeSens::parmm | ( | ) |
Get parameter in mm pointer.
bool MipResources::RangeSens::getScanType | ( | ScanTypes & | type | ) |
Get Scan type. A wrapper of the getScanType function of the scan.
[out] | &type | Returned type. |
bool MipResources::RangeSens::updatedScan | ( | Scan & | s | ) |
Get an updated scan.
[out] | s | A scan in which the current scan is copied, if return is true. |
Reimplemented in MipResources::URG04LX, and MipResources::URG04LXmm.
void MipResources::RangeSens::startScan | ( | unsigned int | num | ) |
Start a continuous scan.
[in] | num | Number of scan to perform, (0 means unbounded). |
void MipResources::RangeSens::stopScan | ( | ) |
Stop a continuous scan.
Get the last stored scan, if a continuous scanning is in act the scan is updated.
[out] | &s | A scan in which the current scan is copied, if return is true. |
[in] | timeout | Timeout. |
Reimplemented in MipResources::URG04LX.
void MipResources::RangeSens::getFixedBearings | ( | ) |
Gets the fixed bearings of the RangeSens.
RangeSensPar* MipResources::RangeSens::_par [protected] |
Parameters.
RangeSensmmPar* MipResources::RangeSens::_parmm [protected] |
Parameters in mm.
Scan MipResources::RangeSens::_scan [protected] |
Current scan.
bool MipResources::RangeSens::on [protected] |
Every inerithed class constructor must set this flag to true.
vector<Angle>* MipResources::RangeSens::_fixedBearings [protected] |
If useFixedBearings and scan in meters, this vector contains the bearings.
vector<Anglem>* MipResources::RangeSens::_fixedBearingsmm [protected] |
If useFixedBearings and scan in millimeters, this vector contains the bearings.
bool MipResources::RangeSens::useFixedBearings [protected] |
Says if use fixed bearings or bearings can change in different scans.
Options for the generic range sensor.