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52 std::string _ip = std::string(
"10.152.36.93"),
53 unsigned int _port = 12002);
92 float vrad,
float hrad,
float distance);
105 const std::string& iniSection)
override;
void doProcess() override
This function acquire a laser scan from the device.
A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing...
~CIbeoLuxETH() override
Destructor.
unsigned int lastScanNumber
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
Load sensor pose on the robot, or keep the default sensor pose.
std::thread dataCollectionThread
This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanner...
Contains classes for various device interfaces.
std::vector< mrpt::obs::CObservation3DRangeScan > m_observations
double distance(const TPoint2D &p1, const TPoint2D &p2)
Gets the distance between two points in a 2D space.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
double convertLayerToRad(int scanlayer)
void makeCommandHeader(unsigned char *buffer)
void initialize() override
This method can or cannot be implemented in the derived class, depending on the need for it.
This class allows loading and storing values and vectors of different types from a configuration text...
mrpt::poses::CPoint3D convertToCartesian(float vrad, float hrad, float distance)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
void makeStopCommand(unsigned char *buffer)
double convertTicksToHRad(int hticks, int hticksPerRotation)
mrpt::comms::CClientTCPSocket m_client
CIbeoLuxETH(std::string _ip=std::string("10.152.36.93"), unsigned int _port=12002)
Constructor.
unsigned int curScanNumber
unsigned int m_scanFrequency
mrpt::poses::CPose3D m_sensorPose
A class used to store a 3D point.
void makeTypeCommand(unsigned char *buffer)
void makeStartCommand(unsigned char *buffer)
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