50 void loadConfig_sensorSpecific(
52 const std::string §ion );
65 std::vector<mrpt::obs::CObservation2DRangeScan>
vObs;
76 std::vector<mrpt::hwdrivers::CPtuHokuyo::my_pos>
v_my_pos;
90 bool init(
const std::string &portPtu,
const std::string &portHokuyo);
101 bool scan(
char &
axis,
const int &tWait,
double &initial,
double &
final,
const double &radPre,
const int &
mean,
const bool &interlaced=
false);
105 bool continuousScan(
char &
axis,
const double &velocity,
double &initial,
double &
final);
115 bool saveVObs2File(
const char *fname=
"Data.rawlog");
119 bool saveVObsPoints2File(
const char *fname=
"Data.pts",
const bool &colours=
false);
123 bool savePitchAndDistances2File();
130 void setHigh(
const double &newHigh) { high = newHigh; }
153 double saveObservation(
const char &
axis,
const int &
mean);
163 bool singleScan(
const char &axis,
const int &tWait,
const int &movements,
const double &radPre,
const int &mean);
180 void refineVObs(
const char &axis);
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
class HWDRIVERS_IMPEXP CPtuHokuyo
The objetive of this class is to coordinate PTU movements and Hokuyo scans, adding the posibility of ...
This class implements initialization and comunication methods to control a generic Pan and Tilt Unit...
std::vector< double > v_ptu_time
This class allows loading and storing values and vectors of different types from a configuration text...
std::vector< mrpt::obs::CObservation2DRangeScan > vObs
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
void setHigh(const double &newHigh)
Method for limit map points obtained from a scan.
This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG, UTM and UXM laser s...
mrpt::system::TTimeStamp timeStamp
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.
int m_ptu_type
Specify type of ptu.
std::vector< mrpt::hwdrivers::CPtuHokuyo::my_pos > v_my_pos