Fawkes API
Fawkes Development Version
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Calibrator for dead ranges. More...
Public Member Functions | |
LaserDeadSpotCalibrator (unsigned int num_spots, unsigned int num_measurements, float compare_distance, float margin, BlackBoard *blackboard, Laser360Interface *laser360, Laser720Interface *laser720) | |
Constructor. More... | |
void | wait_finished () |
Wait for the calibration to be finished. More... | |
std::vector< std::pair< float, float > > | get_dead_spots () |
Get spots. More... | |
unsigned int | num_detected_spots () |
Get number of spots. More... | |
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BlackBoardInterfaceListener (const char *name_format,...) | |
Constructor. More... | |
virtual | ~BlackBoardInterfaceListener () |
Destructor. More... | |
const char * | bbil_name () const |
Get BBIL name. More... | |
virtual bool | bb_interface_message_received (Interface *interface, Message *message) throw () |
BlackBoard message received notification. More... | |
virtual void | bb_interface_writer_added (Interface *interface, unsigned int instance_serial) throw () |
A writing instance has been opened for a watched interface. More... | |
virtual void | bb_interface_writer_removed (Interface *interface, unsigned int instance_serial) throw () |
A writing instance has been closed for a watched interface. More... | |
virtual void | bb_interface_reader_added (Interface *interface, unsigned int instance_serial) throw () |
A reading instance has been opened for a watched interface. More... | |
virtual void | bb_interface_reader_removed (Interface *interface, unsigned int instance_serial) throw () |
A reading instance has been closed for a watched interface. More... | |
Additional Inherited Members | |
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enum | QueueEntryType { DATA = 0, MESSAGES = 1, READER = 2, WRITER = 3 } |
Queue entry type. More... | |
typedef std::list< QueueEntry > | InterfaceQueue |
Queue of additions/removal of interfaces. More... | |
typedef std::map< std::string, Interface * > | InterfaceMap |
Map of currently active event subscriptions. More... | |
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void | bbil_add_data_interface (Interface *interface) |
Add an interface to the data modification watch list. More... | |
void | bbil_add_message_interface (Interface *interface) |
Add an interface to the message received watch list. More... | |
void | bbil_add_reader_interface (Interface *interface) |
Add an interface to the reader addition/removal watch list. More... | |
void | bbil_add_writer_interface (Interface *interface) |
Add an interface to the writer addition/removal watch list. More... | |
void | bbil_remove_data_interface (Interface *interface) |
Remove an interface to the data modification watch list. More... | |
void | bbil_remove_message_interface (Interface *interface) |
Remove an interface to the message received watch list. More... | |
void | bbil_remove_reader_interface (Interface *interface) |
Remove an interface to the reader addition/removal watch list. More... | |
void | bbil_remove_writer_interface (Interface *interface) |
Remove an interface to the writer addition/removal watch list. More... | |
Interface * | bbil_data_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Interface * | bbil_message_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Interface * | bbil_reader_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Interface * | bbil_writer_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Calibrator for dead ranges.
Depending how the laser is mounted parts of the range it covers might be useless data, for example if hidden behind rods. This calibrator detects those ranges and writes the information to the config suitable to be used by the LaserDeadSpotsDataFilter.
Definition at line 78 of file deadspots.cpp.
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inline |
Constructor.
num_spots | number of expected spots |
num_measurements | number of measurements to take |
compare_distance | distance to compare values to |
margin | extra margin in degree to add around detected regions |
blackboard | blackboard to register with as listener |
laser360 | 360 beams laser interface |
laser720 | 720 beams laser interface |
Definition at line 90 of file deadspots.cpp.
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inline |
Get spots.
Definition at line 136 of file deadspots.cpp.
Referenced by num_detected_spots().
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Get number of spots.
Definition at line 145 of file deadspots.cpp.
References fawkes::ArgumentParser::arg(), fawkes::BlackBoard::close(), fawkes::FawkesNetworkClient::connect(), fawkes::NetworkConfiguration::erase(), fawkes::NetworkConfiguration::erase_default(), get_dead_spots(), fawkes::ArgumentParser::has_arg(), fawkes::Interface::has_writer(), fawkes::Configuration::ValueIterator::is_default(), fawkes::ArgumentParser::items(), fawkes::Configuration::ValueIterator::next(), num_detected_spots(), fawkes::ArgumentParser::num_items(), fawkes::BlackBoard::open_for_reading(), fawkes::BlackBoard::open_for_writing(), fawkes::ArgumentParser::parse_float(), fawkes::ArgumentParser::parse_hostport(), fawkes::ArgumentParser::parse_int(), fawkes::ArgumentParser::parse_item_int(), fawkes::Configuration::ValueIterator::path(), fawkes::Exception::print_trace(), fawkes::ArgumentParser::program_name(), fawkes::NetworkConfiguration::search(), fawkes::Laser720Interface::set_distances(), fawkes::NetworkConfiguration::set_float(), fawkes::NetworkConfiguration::set_mirror_mode(), fawkes::Time::stamp(), wait_finished(), and fawkes::Interface::write().
Referenced by num_detected_spots().
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inline |
Wait for the calibration to be finished.
Definition at line 126 of file deadspots.cpp.
Referenced by num_detected_spots().