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mrpt::hwdrivers::CLMS100Eth Class Referenceabstract

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 :

Important note: SICK LMS 1xx devices have two levels of configuration. In its present implementation, this class only handles one of them, so before using this class, you must "pre-configure" your scanner with the SICK's software "SOAP" (this software ships with the device), and set the framerate with this software. Of course, you have to pre-configure the device just once, then save that configuration in its flash memory.

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]
ip_address = 192.168.0.50 ;a string wich is the SICK's ip adress (default is 192.168.0.1)
TCP_port = 1234 ; an integer value : the tcp ip port on wich the sick is listening (default is 2111).
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

This class doesn't configure the SICK LMS sensor, it is recomended to configure the sensor via the the SICK software : SOPAS.

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

Definition at line 63 of file CLMS100eth.h.

#include <mrpt/hwdrivers/CLMS100eth.h>

Inheritance diagram for mrpt::hwdrivers::CLMS100Eth:
Inheritance graph

Public Types

enum  TSensorState { ssInitializing = 0, ssWorking, ssError }
 The current state of the sensor. More...
 
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > TListObservations
 
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > TListObsPair
 

Public Member Functions

 CLMS100Eth (std::string _ip=std::string("192.168.0.1"), unsigned int _port=2111)
 Constructor. More...
 
virtual ~CLMS100Eth ()
 Destructor. More...
 
void doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
 This function acquire a laser scan from the device. More...
 
bool turnOn ()
 This method must be called before trying to get a laser scan. More...
 
bool turnOff ()
 This method could be called manually to stop communication with the device. More...
 
void setSensorPose (const mrpt::poses::CPose3D &_pose)
 A method to set the sensor pose on the robot. More...
 
void doProcess ()
 This method should be called periodically. More...
 
void initialize ()
 Initialize the sensor according to the parameters previously read in the configuration file. More...
 
void showPreview (bool enable=true)
 Enables GUI visualization in real-time. More...
 
void bindIO (mrpt::utils::CStream *streamIO)
 Binds the object to a given I/O channel. More...
 
void getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
 Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). More...
 
virtual const mrpt::hwdrivers::TSensorClassIdGetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor. More...
 
double getProcessRate () const
 
std::string getSensorLabel () const
 
void setSensorLabel (const std::string &sensorLabel)
 
void enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation. More...
 
bool isVerboseEnabled () const
 
void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe). More...
 
virtual void setPathForExternalImages (const std::string &directory)
 Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...
 
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...
 
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg". More...
 
unsigned int getExternalImageJPEGQuality () const
 

Static Public Member Functions

static void printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...
 
static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents. More...
 
static CGenericSensorcreateSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static CGenericSensorPtr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

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. More...
 
void loadCommonParams (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). More...
 
void filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. More...
 
void filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those ranges in a set of forbiden angle ranges. More...
 
void processPreview (const mrpt::obs::CObservation2DRangeScan &obs)
 Must be called inside the capture method to allow optional GUI preview of scans. More...
 
void appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj)
 This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...
 
void appendObservation (const mrpt::utils::CSerializablePtr &obj)
 Like appendObservations() but for just one observation. More...
 

Protected Attributes

utils::CStreamm_stream
 The I/O channel (will be NULL if not bound). More...
 
size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled. More...
 
TSensorState m_state
 
bool m_verbose
 
std::string m_path_for_external_images
 The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...
 
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...
 
unsigned int m_external_images_jpeg_quality
 For JPEG images, the quality (default=95%). More...
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor. More...
 
size_t m_max_queue_len
 See CGenericSensor. More...
 
size_t m_grab_decimation
 If set to N>=2, only 1 out of N observations will be saved to m_objList. More...
 
std::string m_sensorLabel
 See CGenericSensor. More...
 

Private Member Functions

void generateCmd (const char *cmd)
 
bool checkIsConnected ()
 
bool decodeLogIn (char *msg)
 
bool decodeScanCfg (std::istringstream &stream)
 
bool decodeScanDataCfg (std::istringstream &stream)
 
bool decodeScan (char *buf, mrpt::obs::CObservation2DRangeScan &outObservation)
 
void sendCommand (const char *cmd)
 
void roughPrint (char *msg)
 

Private Attributes

std::string m_ip
 
unsigned int m_port
 
mrpt::utils::CClientTCPSocket m_client
 
bool m_turnedOn
 
std::string m_cmd
 
bool m_connected
 
unsigned int m_scanFrequency
 
double m_angleResolution
 
double m_startAngle
 
double m_stopAngle
 
mrpt::poses::CPose3D m_sensorPose
 
double m_maxRange
 
double m_beamApperture
 

Member Typedef Documentation

◆ TListObservations

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations
inherited

Definition at line 68 of file CGenericSensor.h.

◆ TListObsPair

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair
inherited

Definition at line 69 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 74 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CLMS100Eth()

mrpt::hwdrivers::CLMS100Eth::CLMS100Eth ( std::string  _ip = std::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.

◆ ~CLMS100Eth()

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

Destructor.

Close communcation with the device, and free memory.

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr &  obj)
inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 146 of file CGenericSensor.h.

◆ appendObservations()

void mrpt::hwdrivers::CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  obj)
protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

mrpt::obs::CObservationGPSPtr o = CObservationGPSPtr( new CObservationGPS() );
o-> .... // Set data

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

◆ bindIO()

void mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO ( mrpt::utils::CStream streamIO)
inherited

Binds the object to a given I/O channel.

The stream object must not be deleted before the destruction of this class.

See also
hwdrivers::CSerialPort

◆ checkIsConnected()

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

◆ createSensor()

static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor ( const std::string &  className)
staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

Returns
A pointer to a new class, or NULL if class name is unknown.

◆ createSensorPtr()

static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string &  className)
inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 179 of file CGenericSensor.h.

◆ decodeLogIn()

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

◆ decodeScan()

bool mrpt::hwdrivers::CLMS100Eth::decodeScan ( char *  buf,
mrpt::obs::CObservation2DRangeScan outObservation 
)
private

◆ decodeScanCfg()

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

◆ decodeScanDataCfg()

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

◆ doProcess()

void mrpt::hwdrivers::CLMS100Eth::doProcess ( )
virtual

This method should be called periodically.

Period depend on the process_rate in the configuration file.

Reimplemented from mrpt::hwdrivers::C2DRangeFinderAbstract.

◆ doProcessSimple()

void mrpt::hwdrivers::CLMS100Eth::doProcessSimple ( bool &  outThereIsObservation,
mrpt::obs::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
Thismethod 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.

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool  enabled = true)
inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 92 of file CGenericSensor.h.

◆ filterByExclusionAngles()

void mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited

Mark as invalid those ranges in a set of forbiden angle ranges.

See also
loadExclusionAreas

◆ filterByExclusionAreas()

void mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited

Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

See also
loadExclusionAreas

◆ generateCmd()

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

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const
inlineinherited

Definition at line 233 of file CGenericSensor.h.

◆ getObservation()

void mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan outObservation,
bool &  hardwareError 
)
inherited

Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).

◆ getObservations()

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations lstObjects)
inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const
inlineinherited

Definition at line 84 of file CGenericSensor.h.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 86 of file CGenericSensor.h.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const
inlineinherited

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

◆ initialize()

void mrpt::hwdrivers::CLMS100Eth::initialize ( )
virtual

Initialize the sensor according to the parameters previously read in the configuration file.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const
inlineinherited

Definition at line 93 of file CGenericSensor.h.

◆ loadCommonParams()

void mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  iniSection 
)
protectedinherited

Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).

This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".

  • exclusionZoneu_x
  • exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
  • exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.

The number of zones is variable, but they must start at 1 and be consecutive.

This also loads any other common params (e.g. 'preview')

See also
filterByExclusionAreas

◆ loadConfig()

void mrpt::hwdrivers::CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  section 
)
inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

◆ loadConfig_sensorSpecific()

void mrpt::hwdrivers::CLMS100Eth::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  iniSection 
)
protectedvirtual

Load sensor pose on the robot, or keep the default sensor pose.

Implements mrpt::hwdrivers::CGenericSensor.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

◆ processPreview()

void mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan obs)
protectedinherited

Must be called inside the capture method to allow optional GUI preview of scans.

◆ registerClass()

static void mrpt::hwdrivers::CGenericSensor::registerClass ( const TSensorClassId pNewClass)
staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

◆ roughPrint()

void mrpt::hwdrivers::CLMS100Eth::roughPrint ( char *  msg)
private

◆ sendCommand()

void mrpt::hwdrivers::CLMS100Eth::sendCommand ( const char *  cmd)
private

◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string &  ext)
inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also
setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 225 of file CGenericSensor.h.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality)
inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also
setExternalImageFormat

Definition at line 230 of file CGenericSensor.h.

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string &  directory)
inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions
std::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 216 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string &  sensorLabel)
inlineinherited

Definition at line 87 of file CGenericSensor.h.

◆ setSensorPose()

void mrpt::hwdrivers::CLMS100Eth::setSensorPose ( const mrpt::poses::CPose3D _pose)

A method to set the sensor pose on the robot.

Equivalent to setting the sensor pose via loading it from a config file.

◆ showPreview()

void mrpt::hwdrivers::C2DRangeFinderAbstract::showPreview ( bool  enable = true)
inlineinherited

Enables GUI visualization in real-time.

Definition at line 95 of file C2DRangeFinderAbstract.h.

◆ turnOff()

bool mrpt::hwdrivers::CLMS100Eth::turnOff ( )
virtual

This method could be called manually to stop communication with the device.

Method is also called by destructor.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

◆ turnOn()

bool mrpt::hwdrivers::CLMS100Eth::turnOn ( )
virtual

This method must be called before trying to get a laser scan.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Member Data Documentation

◆ m_angleResolution

double mrpt::hwdrivers::CLMS100Eth::m_angleResolution
private

Definition at line 111 of file CLMS100eth.h.

◆ m_beamApperture

double mrpt::hwdrivers::CLMS100Eth::m_beamApperture
private

Definition at line 116 of file CLMS100eth.h.

◆ m_client

mrpt::utils::CClientTCPSocket mrpt::hwdrivers::CLMS100Eth::m_client
private

Definition at line 106 of file CLMS100eth.h.

◆ m_cmd

std::string mrpt::hwdrivers::CLMS100Eth::m_cmd
private

Definition at line 108 of file CLMS100eth.h.

◆ m_connected

bool mrpt::hwdrivers::CLMS100Eth::m_connected
private

Definition at line 109 of file CLMS100eth.h.

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format
protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also
setPathForExternalImages

Definition at line 130 of file CGenericSensor.h.

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality
protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 131 of file CGenericSensor.h.

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation
protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 117 of file CGenericSensor.h.

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 122 of file CGenericSensor.h.

◆ m_ip

std::string mrpt::hwdrivers::CLMS100Eth::m_ip
private

Definition at line 104 of file CLMS100eth.h.

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len
protectedinherited

See CGenericSensor.

Definition at line 116 of file CGenericSensor.h.

◆ m_maxRange

double mrpt::hwdrivers::CLMS100Eth::m_maxRange
private

Definition at line 115 of file CLMS100eth.h.

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images
protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 129 of file CGenericSensor.h.

◆ m_port

unsigned int mrpt::hwdrivers::CLMS100Eth::m_port
private

Definition at line 105 of file CLMS100eth.h.

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited

See CGenericSensor.

Definition at line 115 of file CGenericSensor.h.

◆ m_scanFrequency

unsigned int mrpt::hwdrivers::CLMS100Eth::m_scanFrequency
private

Definition at line 110 of file CLMS100eth.h.

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel
protectedinherited

See CGenericSensor.

Definition at line 118 of file CGenericSensor.h.

◆ m_sensorPose

mrpt::poses::CPose3D mrpt::hwdrivers::CLMS100Eth::m_sensorPose
private

Definition at line 114 of file CLMS100eth.h.

◆ m_startAngle

double mrpt::hwdrivers::CLMS100Eth::m_startAngle
private

Definition at line 112 of file CLMS100eth.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited

Definition at line 124 of file CGenericSensor.h.

◆ m_stopAngle

double mrpt::hwdrivers::CLMS100Eth::m_stopAngle
private

Definition at line 113 of file CLMS100eth.h.

◆ m_stream

utils::CStream* mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream
protectedinherited

The I/O channel (will be NULL if not bound).

Definition at line 58 of file C2DRangeFinderAbstract.h.

◆ m_turnedOn

bool mrpt::hwdrivers::CLMS100Eth::m_turnedOn
private

Definition at line 107 of file CLMS100eth.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited

Definition at line 125 of file CGenericSensor.h.




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