Fawkes API  Fawkes Development Version
LaserDeadSpotCalibrator Class Reference

Calibrator for dead ranges. More...

Inheritance diagram for LaserDeadSpotCalibrator:

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...
 
- Public Member Functions inherited from fawkes::BlackBoardInterfaceListener
 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

- Public Types inherited from fawkes::BlackBoardInterfaceListener
enum  QueueEntryType { DATA = 0, MESSAGES = 1, READER = 2, WRITER = 3 }
 Queue entry type. More...
 
typedef std::list< QueueEntryInterfaceQueue
 Queue of additions/removal of interfaces. More...
 
typedef std::map< std::string, Interface * > InterfaceMap
 Map of currently active event subscriptions. More...
 
- Protected Member Functions inherited from fawkes::BlackBoardInterfaceListener
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...
 
Interfacebbil_data_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_message_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_reader_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_writer_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 

Detailed Description

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.

Author
Tim Niemueller

Definition at line 78 of file deadspots.cpp.

Constructor & Destructor Documentation

◆ LaserDeadSpotCalibrator()

LaserDeadSpotCalibrator::LaserDeadSpotCalibrator ( unsigned int  num_spots,
unsigned int  num_measurements,
float  compare_distance,
float  margin,
BlackBoard blackboard,
Laser360Interface laser360,
Laser720Interface laser720 
)
inline

Constructor.

Parameters
num_spotsnumber of expected spots
num_measurementsnumber of measurements to take
compare_distancedistance to compare values to
marginextra margin in degree to add around detected regions
blackboardblackboard to register with as listener
laser360360 beams laser interface
laser720720 beams laser interface

Definition at line 90 of file deadspots.cpp.

Member Function Documentation

◆ get_dead_spots()

std::vector<std::pair<float, float> > LaserDeadSpotCalibrator::get_dead_spots ( )
inline

Get spots.

Returns
vector of detected dead regions

Definition at line 136 of file deadspots.cpp.

Referenced by num_detected_spots().

◆ num_detected_spots()

◆ wait_finished()

void LaserDeadSpotCalibrator::wait_finished ( )
inline

Wait for the calibration to be finished.

Definition at line 126 of file deadspots.cpp.

Referenced by num_detected_spots().


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