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65 bool& outThereIsObservation,
67 bool& hardwareError)
override;
104 const std::string& iniSection)
override;
bool turnOff() override
See base class docs.
~CRoboPeakLidar() override
Destructor: turns the laser off.
bool turnOn() override
See base class docs.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
bool getDeviceHealth() const
Returns true if the device is connected & operative.
Contains classes for various device interfaces.
const std::string getSerialPort()
Returns the currently set serial port.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
bool checkCOMMs()
Returns true if communication has been established with the device.
void initialize() override
Attempts to connect and turns the laser on.
This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...
void setSerialPort(const std::string &port_name)
If set to non-empty, the serial port will be attempted to be opened automatically when this class is ...
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Interfaces a Robo Peak LIDAR laser scanner.
poses::CPose3D m_sensorPose
The sensor 6D pose:
void disconnect()
Closes the comms with the laser.
CRoboPeakLidar()
Constructor.
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
See the class documentation at the top for expected parameters.
void doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) override
Specific laser scanner "software drivers" must process here new data from the I/O stream,...
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