- PlayerCc
- RangerProxy
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The RangerProxy class is used to control a ranger device.
More...
#include <playerc++.h>
Public Member Functions | |
| RangerProxy (PlayerClient *aPc, uint32_t aIndex=0) | |
| constructor | |
| ~RangerProxy () | |
| destructor | |
| uint32_t | GetElementCount () const |
| Return the individual range sensor count. | |
| player_pose3d_t | GetDevicePose () const |
| Return the device pose. | |
| player_bbox3d_t | GetDeviceSize () const |
| Return the device size. | |
| player_pose3d_t | GetElementPose (uint32_t aIndex) const |
| Return the pose of an individual sensor. | |
| player_bbox3d_t | GetElementSize (uint32_t aIndex) const |
| Return the size of an individual sensor. | |
| uint32_t | GetRangeCount () const |
| Return the number of range readings. | |
| double | GetRange (uint32_t aIndex) const |
| Get a range reading. | |
| double | operator[] (uint32_t aIndex) const |
| Operator to get a range reading. | |
| uint32_t | GetIntensityCount () const |
| Return the number of intensity readings. | |
| double | GetIntensity (uint32_t aIndex) const |
| Get an intensity reading. | |
| void | SetPower (bool aEnable) |
| Turn the device power on or off. More... | |
| void | SetIntensityData (bool aEnable) |
| Turn intensity data on or off. More... | |
| void | RequestGeom () |
| Request the ranger geometry. | |
| void | Configure (double aMinAngle, double aMaxAngle, double aAngularRes, double aMinRange, double aMaxRange, double aRangeRes, double aFrequency) |
| Configure the ranger scan pattern. More... | |
| void | RequestConfigure () |
| Get the current ranger configuration; it is read into the relevant class attributes. More... | |
| double | GetMinAngle () const |
| Start angle of a scan (configured value) | |
| double | GetMaxAngle () const |
| Stop angle of a scan (configured value) | |
| double | GetAngularRes () const |
| Angular resolution of a scan (configured value) | |
| double | GetMinRange () const |
| Minimum detectable range of a scan (configured value) | |
| double | GetMaxRange () const |
| Maximum detectable range of a scan (configured value) | |
| double | GetRangeRes () const |
| Linear resolution (configured value) | |
| double | GetFrequency () const |
| Scanning frequency (configured value) | |
 Public Member Functions inherited from PlayerCc::ClientProxy | |
| bool | IsValid () const |
| Returns true if we have received any data from the device. | |
| bool | IsFresh () const |
| Fresh is set to true on each new read. More... | |
| void | NotFresh () |
| This states that the data in a client is currently not Fresh. | |
| std::string | GetDriverName () const |
| Returns the driver name. More... | |
| double | GetDataTime () const |
| Returns the received timestamp [s]. | |
| double | GetElapsedTime () const |
| Returns the received timestamp [s]. | |
| PlayerClient * | GetPlayerClient () const |
| Returns a pointer to the Player Client. | |
| uint32_t | GetIndex () const |
| Returns device index. | |
| uint32_t | GetInterface () const |
| Returns device interface. | |
| std::string | GetInterfaceStr () const |
| Returns device interface. | |
| void | SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1) |
| Set a replace rule for this proxy on the server. More... | |
| int | HasCapability (uint32_t aType, uint32_t aSubtype) |
| Request capabilities of device. More... | |
| int | GetBoolProp (char *aProperty, bool *aValue) |
| Request a boolean property. | |
| int | SetBoolProp (char *aProperty, bool aValue) |
| Set a boolean property. | |
| int | GetIntProp (char *aProperty, int32_t *aValue) |
| Request an integer property. | |
| int | SetIntProp (char *aProperty, int32_t aValue) |
| Set an integer property. | |
| int | GetDblProp (char *aProperty, double *aValue) |
| Request a double property. | |
| int | SetDblProp (char *aProperty, double aValue) |
| Set a double property. | |
| int | GetStrProp (char *aProperty, char **aValue) |
| Request a string property. | |
| int | SetStrProp (char *aProperty, char *aValue) |
| Set a string property. | |
| template<typename T > | |
| connection_t | ConnectReadSignal (T aSubscriber) |
| Connect a signal to this proxy For more information check out Signals & multithreading. | |
| void | DisconnectReadSignal (connection_t aSubscriber) |
| Disconnect a signal to this proxy. | |
Private Member Functions | |
| void | Subscribe (uint32_t aIndex) |
| void | Unsubscribe () |
Private Attributes | |
| playerc_ranger_t * | mDevice |
Additional Inherited Members | |
| Public Types inherited from PlayerCc::ClientProxy | |
| typedef int | connection_t |
| typedef boost::mutex::scoped_lock | scoped_lock_t |
| typedef int | read_signal_t |
| Protected Member Functions inherited from PlayerCc::ClientProxy | |
| ClientProxy (PlayerClient *aPc, uint32_t aIndex) | |
| template<typename T > | |
| T | GetVar (const T &aV) const |
| template<typename T > | |
| void | GetVarByRef (const T aBegin, const T aEnd, T aDest) const |
| Protected Attributes inherited from PlayerCc::ClientProxy | |
| PlayerClient * | mPc |
| playerc_client_t * | mClient |
| playerc_device_t * | mInfo |
| bool | mFresh |
The RangerProxy class is used to control a ranger device.
| void PlayerCc::RangerProxy::Configure | ( | double | aMinAngle, |
| double | aMaxAngle, | ||
| double | aAngularRes, | ||
| double | aMinRange, | ||
| double | aMaxRange, | ||
| double | aRangeRes, | ||
| double | aFrequency | ||
| ) |
Configure the ranger scan pattern.
Angles aMinAngle and aMaxAngle are measured in radians. aResolution is measured in radians. aMinRange, aMaxRange and aRangeRes is measured in metres. aFrequency is measured in Hz.
| void PlayerCc::RangerProxy::RequestConfigure | ( | ) |
Get the current ranger configuration; it is read into the relevant class attributes.
| void PlayerCc::RangerProxy::SetIntensityData | ( | bool | aEnable | ) |
Turn intensity data on or off.
Set state to true to enable, false to disable.
| void PlayerCc::RangerProxy::SetPower | ( | bool | aEnable | ) |
Turn the device power on or off.
Set state to true to enable, false to disable.