MipResources::RangeSens Class Reference
[Range sensor]

Abstract Range-sensor. More...

#include <RangeSens.h>

Inheritance diagram for MipResources::RangeSens:

List of all members.

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.

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Detailed Description

Abstract Range-sensor.

Author:

Antonio Franchi

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Constructor & Destructor Documentation

MipResources::RangeSens::RangeSens	(	int	argc,
		const char *	argv[]
	)

Default constructor.

Default constructor.

MipResources::RangeSens::~RangeSens

(

)

Destructor.

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Member Function Documentation

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.

Parameters:

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.

Returns:

Pointer to _par if retrivable and SCAN_SENS, NULL otherwise.

Note:

Falls in exception if called not referring to an implemented object.

RangeSensmmPar * MipResources::RangeSens::parmm

(

)

Get parameter in mm pointer.

Returns:

Pointer to _parmm if retrivable and SCAN_SENSMM, NULL otherwise.

Note:

Falls in exception if called not referring to an implemented object.

bool MipResources::RangeSens::getScanType

(

ScanTypes &

type

)

Get Scan type. A wrapper of the getScanType function of the scan.

Returns:

true if succesfully got, false otherwise.

Parameters:

[out]

&type

Returned type.

bool MipResources::RangeSens::updatedScan

(

Scan &

s

)

Get an updated scan.

Returns:

true if the get if all is ok (remeber that scan is a MutExed Resource), false otherwise.

Parameters:

[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.

Parameters:

[in]

num

Number of scan to perform, (0 means unbounded).

void MipResources::RangeSens::stopScan

(

)

Stop a continuous scan.

bool MipResources::RangeSens::storedScan	(	Scan &	s,
		Time	timeout
	)

Get the last stored scan, if a continuous scanning is in act the scan is updated.

Note:

Differs from newScan(), it has strictly sense only if startScan was invoked before.

Returns:

true if the get if all is ok (remeber that scan is a MutExed Resource), false otherwise.

Parameters:

[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.

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Member Data Documentation

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.

RangeSensOptions MipResources::RangeSens::_rangeSensOptions [protected]

Options for the generic range sensor.

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The documentation for this class was generated from the following files:

• resources/RangeSens/RangeSens.h
• resources/RangeSens/RangeSens.cpp