The RangeSensor service allows you to share range scan information from multiple devices with different capabilities. Example devices include LIDAR, or sonar, etc. More...

#include <rangesensor.h>

Inheritance diagram for JAUS::RangeSensor:

List of all members.

Public Member Functions
	RangeSensor ()
	Constructor.
	~RangeSensor ()
	Destructor.
void	AddRangeDevice (const RangeSensorConfig &configuration)
	Add configuration information and support for a range sensing device.
void	SetLocalRangeScan (const Byte deviceID, const Point3D &deviceLocation, const Point3D &deviceOrientation, const std::vector< UShort > &scan, const Time &timestamp=Time())
	Set the current scan collected/received from the device.
void	SetLocalRangeScan (const Byte deviceID, const Point3D &deviceLocation, const Point3D &deviceOrientation, const std::vector< double > &scan, const Time &timestamp=Time())
	Set the current scan collected/received from the device.
void	SetLocalRangeScan (const Byte deviceID, const Point3D &deviceLocation, const Point3D &deviceOrientation, const Point3D::List &scan, const Time &timestamp=Time())
	Set the current scan collected/received from the device.
virtual bool	GenerateEvent (const Events::Subscription &info) const
	Generates an event for the given information.
virtual bool	IsEventSupported (const Events::Type type, const double requestedPeriodicRate, const Message *queryMessage, double &confirmedPeriodicRate, std::string &errorMessage) const
	Checks if the event is supported by the Service.
virtual bool	IsDiscoverable () const
virtual void	Receive (const Message *message)
	Processes message received by the Service. If not supported, then message is passed to inheriting services depending on what type of control has been established for the component.
virtual Message *	CreateMessage (const UShort messageCode) const
	Attempts to create the message desired. Only message supported by this Service can be created by this Service.
Static Public Attributes
static const std::string	Name = "urn:jaus:jss:jpp:extras:RangeSensor"
	String name of the Service.
Protected Attributes
Mutex	mRangeSensorMutex
	Mutex for thread protection of data.
RangeSensorConfig::Map	mRangeSensors
	Range sensor information.
std::map< Byte, ReportLocalRangeScan >	mRangeScans
	Current range scan data for sensors.

Detailed Description

The RangeSensor service allows you to share range scan information from multiple devices with different capabilities. Example devices include LIDAR, or sonar, etc.

Definition at line 60 of file rangesensor.h.

Constructor & Destructor Documentation

RangeSensor::RangeSensor ( )

Constructor.

Definition at line 54 of file rangesensor.cpp.

RangeSensor::~RangeSensor ( )

Destructor.

Definition at line 64 of file rangesensor.cpp.

Member Function Documentation

void RangeSensor::AddRangeDevice ( const RangeSensorConfig & configuration )

Add configuration information and support for a range sensing device.

This step must be taken before call SetLocalRangeScan, otherwise the data will be ignored. It also must be used to let subscribers know about what range data is available.

Parameters:

[in] configuration Range sensor configuration data.

Definition at line 80 of file rangesensor.cpp.

Message * RangeSensor::CreateMessage ( const UShort messageCode ) const [virtual]

Attempts to create the message desired. Only message supported by this Service can be created by this Service.

Parameters:

[in] messageCode Message to create.

Returns:: Pointer to newly allocated Message data, NULL if message is not supported by the Service.

Implements JAUS::Service.

Definition at line 396 of file rangesensor.cpp.

bool RangeSensor::GenerateEvent ( const Events::Subscription & info ) const [virtual]

Generates an event for the given information.

Parameters:

[in] info The event information (ID, Sequence #, etc.) for generation.

Returns:: True if event generated, otherwise false.

Implements JAUS::Events::Child.

Definition at line 270 of file rangesensor.cpp.

virtual bool JAUS::RangeSensor::IsDiscoverable ( ) const [inline, virtual]

Implements JAUS::Service.

Definition at line 97 of file rangesensor.h.

bool RangeSensor::IsEventSupported	(	const Events::Type	type,
		const double	requestedPeriodicRate,
		const Message *	queryMessage,
		double &	confirmedPeriodicRate,
		std::string &	errorMessage
	)		const `[virtual]`

Checks if the event is supported by the Service.

Parameters:

[in]	type	The event type (Periodic/EveryChange).
[in]	requestedPeriodicRate	If type == Periodic, then this is the desired update rate.
[in]	queryMessage	The query message associated with the event.
[out]	confirmedPeriodicRate	This is the confirmed periodic rate supported by the Service.
[out]	errorMessage	If not supported, this is an optional error message.

Returns:: True if event supported, otherwise false.

Implements JAUS::Events::Child.

Definition at line 330 of file rangesensor.cpp.

void RangeSensor::Receive ( const Message * message ) [virtual]

Processes message received by the Service. If not supported, then message is passed to inheriting services depending on what type of control has been established for the component.

This Service supports PrimitiveDriver related messages only.

Parameters:

[in] message Message data to process.

Reimplemented from JAUS::Service.

Definition at line 358 of file rangesensor.cpp.

void RangeSensor::SetLocalRangeScan	(	const Byte	deviceID,
		const Point3D &	deviceLocation,
		const Point3D &	deviceOrientation,
		const Point3D::List &	scan,
		const Time &	timestamp = `Time()`
	)

Set the current scan collected/received from the device.

Parameters:

[in]	deviceID	Device ID number.
[in]	deviceLocation	Location on the paltform relative to it's origin when the scan was performed (meters). Values are in the platform coordinate frame (e.g. positive x is in front of vehicle).
[in]	deviceOrientation	Orientation of the device (x = roll, y = pitch, z = yaw), when the scan was performed.
[in]	scan	The scan/range data collected. The units are in meters. Values start from the left, and go to the right (e.g. first value at -90, last at 90 for 180 degree scan). X values in points are the range data.
[in]	timestamp	Time when the data was captured (UTC).

Definition at line 222 of file rangesensor.cpp.

void RangeSensor::SetLocalRangeScan	(	const Byte	deviceID,
		const Point3D &	deviceLocation,
		const Point3D &	deviceOrientation,
		const std::vector< double > &	scan,
		const Time &	timestamp = `Time()`
	)

Set the current scan collected/received from the device.

Parameters:

[in]	deviceID	Device ID number.
[in]	deviceLocation	Location on the paltform relative to it's origin when the scan was performed (meters). Values are in the platform coordinate frame (e.g. positive x is in front of vehicle).
[in]	deviceOrientation	Orientation of the device (x = roll, y = pitch, z = yaw), when the scan was performed.
[in]	scan	The scan/range data collected. The units are in meters. Values start from the left, and go to the right (e.g. first value at -90, last at 90 for 180 degree scan).
[in]	timestamp	Time when the data was captured (UTC).

Definition at line 165 of file rangesensor.cpp.

void RangeSensor::SetLocalRangeScan	(	const Byte	deviceID,
		const Point3D &	deviceLocation,
		const Point3D &	deviceOrientation,
		const std::vector< UShort > &	scan,
		const Time &	timestamp = `Time()`
	)

Set the current scan collected/received from the device.

Parameters:

[in]	deviceID	Device ID number.
[in]	deviceLocation	Location on the paltform relative to it's origin when the scan was performed (meters). Values are in the platform coordinate frame (e.g. positive x is in front of vehicle).
[in]	deviceOrientation	Orientation of the device (x = roll, y = pitch, z = yaw), when the scan was performed.
[in]	scan	The scan/range data collected. The units will either be in MM or CM depending on the device and must match the unit type set in the RangeSensorConfig set using the AddRangeDevice method. Values start from the left, and go to the right (e.g. first value at -90, last at 90 for 180 degree scan).
[in]	timestamp	Time when the data was captured (UTC).