conscience_core::lidar::CscLidarEngine Class Reference

#include <CscLidarEngine.h>

Inheritance diagram for conscience_core::lidar::CscLidarEngine:

Public Member Functions
	CscLidarEngine ()
virtual void	startEngine ()
virtual void	stopEngine ()
const LidarValues &	getCurrentValues ()
LidarValues	getCurrentValuesCopy ()
void	integrateValuesAtTime (const map< double, double > &newValues, unsigned long long timestamp, optional< OdometryData > odometry={})
virtual	~CscLidarEngine ()
void	activateLidarMode (CscLidarMode newLidarMode)
void	addLidarMode (CscLidarMode newLidarMode)
void	removeLidarMode (CscLidarMode lidarModeToRemove)
bool	isLidarModeRunning (CscLidarMode lidarModeSearched)
bool	isLidarModeActive (CscLidarMode lidarModeSearched)
bool	isLidarEngineActivated ()
void	stopLidarEngine ()
unsigned long long	getLastLidarValuesTime () const
unsigned long long	getLidarValuesTimeToRetrieve () const
unsigned long long	getLidarValuesTimeBetweenUpdate () const
void	setOnNewValuesListener (const optional< function< void(const LidarValues &)>> &onNewValues={})
optional< function< void()> >	getOnActivatedListener () const
void	setOnActivatedListener (const optional< function< void()>> &onActivated={})

Static Public Member Functions
static bool	isSlamAutoEnabled ()

Protected Attributes
mutex	lidarValuesMutex
LidarValues	values
optional< function< void(const LidarValues &)> >	onNewValues = {}
optional< function< void()> >	onActivated = {}
std::unique_ptr< CscLogger >	logger

Constructor & Destructor Documentation

CscLidarEngine()

conscience_core::lidar::CscLidarEngine::CscLidarEngine

(

)

~CscLidarEngine()

conscience_core::lidar::CscLidarEngine::~CscLidarEngine ( )

virtual

Member Function Documentation

activateLidarMode()

void conscience_core::lidar::CscLidarEngine::activateLidarMode

(

CscLidarMode

newLidarMode

)

addLidarMode()

void conscience_core::lidar::CscLidarEngine::addLidarMode

(

CscLidarMode

newLidarMode

)

getCurrentValues()

const LidarValues & conscience_core::lidar::CscLidarEngine::getCurrentValues

(

)

Warning

not thread safe, direct access to lidar values - which can be modified during access - see getCurrentValuesCopy

See also

getCurrentValuesCopy()

getCurrentValuesCopy()

LidarValues conscience_core::lidar::CscLidarEngine::getCurrentValuesCopy

(

)

Returns

thread safe lidar values copy

getLastLidarValuesTime()

unsigned long long conscience_core::lidar::CscLidarEngine::getLastLidarValuesTime

(

)

const

getLidarValuesTimeBetweenUpdate()

unsigned long long conscience_core::lidar::CscLidarEngine::getLidarValuesTimeBetweenUpdate

(

)

const

getLidarValuesTimeToRetrieve()

unsigned long long conscience_core::lidar::CscLidarEngine::getLidarValuesTimeToRetrieve

(

)

const

getOnActivatedListener()

optional< function< void()> > conscience_core::lidar::CscLidarEngine::getOnActivatedListener

(

)

const

integrateValuesAtTime()

void conscience_core::lidar::CscLidarEngine::integrateValuesAtTime	(	const map< double, double > &	newValues,
		unsigned long long	timestamp,
		optional< OdometryData >	odometry = {}
	)

Parameters

newValues

see LidarValues::lidarValues map for units

isLidarEngineActivated()

bool conscience_core::lidar::CscLidarEngine::isLidarEngineActivated

(

)

isLidarModeActive()

bool conscience_core::lidar::CscLidarEngine::isLidarModeActive

(

CscLidarMode

lidarModeSearched

)

isLidarModeRunning()

bool conscience_core::lidar::CscLidarEngine::isLidarModeRunning

(

CscLidarMode

lidarModeSearched

)

isSlamAutoEnabled()

bool conscience_core::lidar::CscLidarEngine::isSlamAutoEnabled ( )

static

removeLidarMode()

void conscience_core::lidar::CscLidarEngine::removeLidarMode

(

CscLidarMode

lidarModeToRemove

)

setOnActivatedListener()

void conscience_core::lidar::CscLidarEngine::setOnActivatedListener

(

const optional< function< void()>> &

onActivated = {}

)

setOnNewValuesListener()

void conscience_core::lidar::CscLidarEngine::setOnNewValuesListener

(

const optional< function< void(const LidarValues &)>> &

onNewValues = {}

)

startEngine()

void conscience_core::lidar::CscLidarEngine::startEngine ( )

virtual

Reimplemented in conscience_core::lidar::CscLidarEngineRplidar, and conscience_core::lidar::CscLidar2DEngineSimulated.

stopEngine()

void conscience_core::lidar::CscLidarEngine::stopEngine ( )

virtual

Reimplemented in conscience_core::lidar::CscLidarEngineRplidar, and conscience_core::lidar::CscLidar2DEngineSimulated.

stopLidarEngine()

void conscience_core::lidar::CscLidarEngine::stopLidarEngine

(

)

Member Data Documentation

lidarValuesMutex

mutex conscience_core::lidar::CscLidarEngine::lidarValuesMutex

protected

logger

std::unique_ptr<CscLogger> conscience_core::lidar::CscLidarEngine::logger

protected

onActivated

optional<function<void()> > conscience_core::lidar::CscLidarEngine::onActivated = {}

protected

onNewValues

optional<function<void(const LidarValues &)> > conscience_core::lidar::CscLidarEngine::onNewValues = {}

protected

values

LidarValues conscience_core::lidar::CscLidarEngine::values

protected

---

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

• Lidar/CscLidarEngine.h
• Lidar/CscLidarEngine.cpp