Public Member Functions | Private Member Functions | Private Attributes | List of all members
PlayerCc::RangerProxy Class Reference

The RangerProxy class is used to control a ranger device. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::RangerProxy:
PlayerCc::ClientProxy

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.
void SetIntensityData (bool aEnable)
 Turn intensity data on or off.
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.
void RequestConfigure ()
 Get the current ranger configuration; it is read into the relevant class attributes.
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.
void NotFresh ()
 This states that the data in a client is currently not Fresh.
std::string GetDriverName () const
 Returns the driver name.
double GetDataTime () const
 Returns the received timestamp [s].
double GetElapsedTime () const
 Returns the received timestamp [s].
PlayerClientGetPlayerClient () 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.
int HasCapability (uint32_t aType, uint32_t aSubtype)
 Request capabilities of device.
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_tmDevice

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)
virtual void Subscribe (uint32_t)
virtual void Unsubscribe ()
template<typename 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
PlayerClientmPc
playerc_client_tmClient
playerc_device_tmInfo
bool mFresh

Detailed Description

The RangerProxy class is used to control a ranger device.

Member Function Documentation

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.


The documentation for this class was generated from the following file:

Last updated 12 September 2005 21:38:45