mrpt::hwdrivers::CLMS100Eth Class Reference

This "software driver" implements the communication protocol for interfacing a SICK LMS100 laser scanners through an ethernet controller. More...

#include <mrpt/hwdrivers/CLMS100eth.h>

Inheritance diagram for mrpt::hwdrivers::CLMS100Eth:

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Collaboration diagram for mrpt::hwdrivers::CLMS100Eth:

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List of all members.

Public Member Functions
	CLMS100Eth (string _ip=string("192.168.0.1"), unsigned int _port=2111)
	Constructor.
virtual	~CLMS100Eth ()
	Destructor.
void	doProcessSimple (bool &outThereIsObservation, CObservation2DRangeScan &outObservation, bool &hardwareError)
	This function acquire a laser scan from the device.
bool	turnOn ()
	This method must be called before trying to get a laser scan.
bool	turnOff ()
	This method could be called manually to stop communication with the device.
void	setSensorPose (CPose3D &_pose)
	A method to set the sensor pose on the robot.
Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	Load sensor pose on the robot, or keep the default sensor pose.
Private Member Functions
void	generateCmd (const char *cmd)
bool	checkIsConnected ()
bool	decodeLogIn (char *msg)
bool	decodeScanCfg (istringstream &stream)
bool	decodeScanDataCfg (istringstream &stream)
bool	decodeScan (char *buf, CObservation2DRangeScan &outObservation)
void	sendCommand (const char *cmd)
void	roughPrint (char *msg)
Private Attributes
string	m_ip
unsigned int	m_port
CClientTCPSocket	m_client
bool	m_turnedOn
string	m_cmd
bool	m_connected
unsigned int	m_scanFrequency
double	m_angleResolution
double	m_startAngle
double	m_stopAngle
CPose3D	m_sensorPose
double	m_maxRange
double	m_beamApperture

Detailed Description

This "software driver" implements the communication protocol for interfacing a SICK LMS100 laser scanners through an ethernet controller.

This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO. Connection is established when user call the turnOn() method. You can pass to the class's constructor the LMS100 's ip address and port. Device will be configured with the following parameters :

Start Angle : -45 deg (imposed by hardware)
Stop Angle : +225 deg (imposed by hardware)
Apperture : 270 deg (imposed by hardware)
Angular resolution : 0.25 deg
Scan frequency : 25 Hz
Max Range : 20m (imposed by hardware).

To get a laser scan you must proceed like that :

     CLMS200Eth laser(string("192.168.0.10"), 1234);
     laser.turnOn();
     bool isOutObs, hardwareError;
     CObservation2DRangeScan outObs;
     laser.doProcessSimple(isOutObs, outObs, hardwareError);

The sensor pose on the vehicle could be loaded from an ini configuration file with :

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
   pose_x=0.21  ; Laser range scaner 3D position in the robot (meters)
   pose_y=0
   pose_z=0.34
   pose_yaw=0   ; Angles in degrees
   pose_pitch=0
   pose_roll=0

Note:: This class was contributed by Adrien Barral - Robopec (France)

Definition at line 79 of file CLMS100eth.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CLMS100Eth::CLMS100Eth	(	string	_ip = `string("192.168.0.1")`,
		unsigned int	_port = `2111`
	)

Constructor.

Note that there is default arguments, here you can customize IP Adress and TCP Port of your device.

virtual mrpt::hwdrivers::CLMS100Eth::~CLMS100Eth ( ) [virtual]

Destructor.

Close communcation with the device, and free memory.

Member Function Documentation

bool mrpt::hwdrivers::CLMS100Eth::checkIsConnected ( ) [private]

bool mrpt::hwdrivers::CLMS100Eth::decodeLogIn ( char * msg ) [private]

bool mrpt::hwdrivers::CLMS100Eth::decodeScan	(	char *	buf,
		CObservation2DRangeScan &	outObservation
	)			`[private]`

bool mrpt::hwdrivers::CLMS100Eth::decodeScanCfg ( istringstream & stream ) [private]

bool mrpt::hwdrivers::CLMS100Eth::decodeScanDataCfg ( istringstream & stream ) [private]

void mrpt::hwdrivers::CLMS100Eth::doProcessSimple	(	bool &	outThereIsObservation,
		CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)			`[virtual]`

This function acquire a laser scan from the device.

If an error occured, hardwareError will be set to true. The new laser scan will be stored in the outObservation argument.

Exceptions:

This

method throw exception if the frame received from the LMS 100 contain the following bad parameters : * Status is not OK * Data in the scan aren't DIST1 (may be RSSIx or DIST2).

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

void mrpt::hwdrivers::CLMS100Eth::generateCmd ( const char * cmd ) [private]

void mrpt::hwdrivers::CLMS100Eth::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)			`[protected, virtual]`