48 CIbeoLuxETH(std::string _ip=std::string(
"10.152.36.93"),
unsigned int _port=12002);
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanner...
void makeStopCommand(unsigned char *buffer)
mrpt::poses::CPoint3D convertToCartesian(float vrad, float hrad, float distance)
unsigned int m_scanFrequency
float convertLayerToRad(int scanlayer)
void initialize()
This method can or cannot be implemented in the derived class, depending on the need for it.
CIbeoLuxETH(std::string _ip=std::string("10.152.36.93"), unsigned int _port=12002)
Constructor.
mrpt::system::TThreadHandle dataCollectionThread
float convertTicksToHRad(int hticks, int hticksPerRotation)
void doProcess()
This function acquire a laser scan from the device.
unsigned int lastScanNumber
void makeStartCommand(unsigned char *buffer)
void makeCommandHeader(unsigned char *buffer)
void makeTypeCommand(unsigned char *buffer)
std::vector< mrpt::obs::CObservation3DRangeScan > m_observations
mrpt::poses::CPose3D m_sensorPose
virtual ~CIbeoLuxETH()
Destructor.
unsigned int curScanNumber
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
Load sensor pose on the robot, or keep the default sensor pose.
mrpt::utils::CClientTCPSocket m_client
A class used to store a 3D point.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing...
This class allows loading and storing values and vectors of different types from a configuration text...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
This structure contains the information needed to interface the threads API on each platform: