lobot::LaserRangeFinder Class Reference

Encapsulation of liburg API for interfacing with Hokuyo laser range finders. More...

#include <Robots/LoBot/io/LoLaserRangeFinder.H>

Public Member Functions
	LaserRangeFinder (const std::string &device="/dev/ttyACM0", int baud_rate=115200)
	Initialization.
void	update ()
	Retrieve distance data from the laser range finder.
int	get_distance (int angle) const
Image< int >	get_distances () const
	Retrieve the entire set of distances.
	~LaserRangeFinder ()
	Clean-up.


float	average_distance (int min, int max) const
float	average_distance (const range< int > &angles) const


int	max_reading (int min, int max) const
int	max_reading (const range< int > &angles) const
int	max_reading () const


range< int >	get_distance_range () const
	What is the device's distance measurement range?
int	min_distance () const
int	max_distance () const


range< int >	get_angular_range () const
	Retrieve the device's angular range.
int	min_angle () const
int	max_angle () const

Detailed Description

Encapsulation of liburg API for interfacing with Hokuyo laser range finders.

This class provides a higher-level abstraction over liburg's plain C API for retrieving distance measurements from lobot's Hokuyo laser range finder. It takes care of the low-level details of correctly invoking the liburg API and allows clients to query for distance along a particular direction.

Definition at line 93 of file LoLaserRangeFinder.H.

Constructor & Destructor Documentation

lobot::LaserRangeFinder::LaserRangeFinder	(	const std::string &	device = `"/dev/ttyACM0"`,
		int	baud_rate = `115200`
	)

Initialization.

Definition at line 152 of file LoLaserRangeFinder.C.

lobot::LaserRangeFinder::~LaserRangeFinder ( )

Clean-up.

Definition at line 167 of file LoLaserRangeFinder.C.

Member Function Documentation

float lobot::LaserRangeFinder::average_distance	(	int	min,
		int	max
	)			const

A convenience routine for returning the average distance for a range of angles.

Definition at line 163 of file LoLaserRangeFinder.C.

Referenced by lobot::InputSource::average_distance().

range<int> lobot::LaserRangeFinder::get_angular_range ( ) const [inline]

Retrieve the device's angular range.

Definition at line 157 of file LoLaserRangeFinder.H.

Referenced by lobot::InputSource::lrf_angular_range().

int lobot::LaserRangeFinder::get_distance ( int angle ) const

What is the distance measurement (in mm) along the specified direction (in degrees)? A negative value is returned if the angle is out of range. Zero degrees corresponds to the front of the device. Directions to the left are positive angles and those to the right are negative.

Definition at line 161 of file LoLaserRangeFinder.C.

Referenced by lobot::InputSource::get_distance().

range<int> lobot::LaserRangeFinder::get_distance_range ( ) const [inline]

What is the device's distance measurement range?

Definition at line 150 of file LoLaserRangeFinder.H.

Referenced by lobot::LaserViz::LaserViz().

Image< int > lobot::LaserRangeFinder::get_distances ( ) const

Retrieve the entire set of distances.

Definition at line 162 of file LoLaserRangeFinder.C.

Referenced by BeoLRF::evolve(), and lobot::LRFData::LRFData().