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106<div class="title">HokuyoUTM30Lx.h</div> </div>
107</div><!--header-->
108<div class="contents">
109<a href="_hokuyo_u_t_m30_lx_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// %flair:license{</span></div>
110<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// This file is part of the Flair framework distributed under the</span></div>
111<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
112<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// %flair:license}</span></div>
113<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef HOKUYOUTM30LX_H</span></div>
114<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define HOKUYOUTM30LX_H</span></div>
115<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;</div>
116<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_thread_8h.html">Thread.h</a>&gt;</span></div>
117<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_laser_range_finder_8h.html">LaserRangeFinder.h</a>&gt;</span></div>
118<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_mutex_8h.html">Mutex.h</a>&gt;</span></div>
119<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;</div>
120<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="preprocessor">#include &lt;queue&gt;</span></div>
121<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
122<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;</div>
123<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="keyword">namespace </span>flair {</div>
124<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="keyword">namespace </span>core {</div>
125<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="keyword">class </span>cvmatrix;</div>
126<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="keyword">class </span>FrameworkManager;</div>
127<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="keyword">class </span>SerialPort;</div>
128<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="keyword">class </span>Mutex;</div>
129<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;}</div>
130<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="keyword">namespace </span>gui {</div>
131<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="keyword">class </span>Tab;</div>
132<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="keyword">class </span>TabWidget;</div>
133<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="keyword">class </span>RangeFinderPlot;</div>
134<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;}</div>
135<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;}</div>
136<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;</div>
137<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="keyword">namespace </span>flair {</div>
138<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="keyword">namespace </span>sensor {</div>
139<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx.html"> 43</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx.html">HokuyoUTM30Lx</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_thread.html">core::Thread</a>, <span class="keyword">public</span> <a class="code" href="classflair_1_1sensor_1_1_laser_range_finder.html">LaserRangeFinder</a> {</div>
140<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="keyword">public</span>:</div>
141<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx.html#a103a5681f23b69dc739da0b70ebcd5ea">HokuyoUTM30Lx</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_framework_manager.html">core::FrameworkManager</a> *parent, std::string name,</div>
142<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <a class="code" href="classflair_1_1core_1_1_serial_port.html">core::SerialPort</a> *serialport, uint8_t priority);</div>
143<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="keywordtype">void</span> getMesure(<span class="keywordtype">int</span> startStep, <span class="keywordtype">int</span> endStep, <span class="keywordtype">int</span> clusterCount, <span class="keywordtype">int</span> interval,</div>
144<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <span class="keywordtype">int</span> scanNumber = 0);</div>
145<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *getDatas(<span class="keywordtype">void</span>);</div>
146<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;</div>
147<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx.html#af71c2d5cbc5f79bf45f759836c6db8a3">UseDefaultPlot</a>(<span class="keywordtype">void</span>);</div>
148<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx.html#a703cae77132737a94a915e63d55995b5">~HokuyoUTM30Lx</a>();</div>
149<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;</div>
150<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;<span class="keyword">private</span>:</div>
151<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; <a class="code" href="classflair_1_1core_1_1_serial_port.html">core::SerialPort</a> *serialport;</div>
152<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; <a class="code" href="classflair_1_1core_1_1_mutex.html">core::Mutex</a> *bufRetMut;</div>
153<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <a class="code" href="classflair_1_1core_1_1_mutex.html">core::Mutex</a> *sendingCmdMut;</div>
154<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *main_tab;</div>
155<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <a class="code" href="classflair_1_1gui_1_1_tab_widget.html">gui::TabWidget</a> *tab;</div>
156<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; <a class="code" href="classflair_1_1gui_1_1_range_finder_plot.html">gui::RangeFinderPlot</a> *plot;</div>
157<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160;</div>
158<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; <span class="comment">// matrix</span></div>
159<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *output;</div>
160<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;</div>
161<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; std::queue&lt;std::string&gt; bufRet;</div>
162<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;</div>
163<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; <span class="keywordtype">void</span> Run(<span class="keywordtype">void</span>);</div>
164<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; std::string sendCommand(std::string command);</div>
165<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; <span class="keywordtype">void</span> startLaser(<span class="keywordtype">void</span>);</div>
166<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160; <span class="keywordtype">void</span> stopLaser(<span class="keywordtype">void</span>);</div>
167<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; <span class="keywordtype">void</span> resetConfig(<span class="keywordtype">void</span>);</div>
168<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160; <span class="keywordtype">void</span> decodeDatas(std::vector&lt;std::string&gt; datas, <span class="keywordtype">int</span> startStep);</div>
169<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160; <span class="keyword">static</span> std::vector&lt;std::string&gt; explode(<span class="keyword">const</span> std::string str,</div>
170<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160; <span class="keywordtype">char</span> delimiter);</div>
171<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160; <span class="keyword">static</span> <span class="keywordtype">int</span> encodeSum(<span class="keyword">const</span> <span class="keywordtype">char</span> *code, <span class="keywordtype">int</span> byte);</div>
172<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160; <span class="keyword">static</span> <span class="keywordtype">bool</span> checkSum(std::string data);</div>
173<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160; <span class="keyword">static</span> <span class="keywordtype">float</span> decode2car(<span class="keyword">const</span> <span class="keywordtype">char</span> *data);</div>
174<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160; <span class="keyword">static</span> <span class="keywordtype">float</span> decode3car(<span class="keyword">const</span> <span class="keywordtype">char</span> *data);</div>
175<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>&#160; <span class="keyword">static</span> <span class="keywordtype">float</span> decode4car(<span class="keyword">const</span> <span class="keywordtype">char</span> *data);</div>
176<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>&#160;</div>
177<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>&#160; <span class="keywordtype">void</span> UpdateFrom(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data){};</div>
178<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160;};</div>
179<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160;} <span class="comment">// end namespace sensor</span></div>
180<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>&#160;} <span class="comment">// end namespace framewor</span></div>
181<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160;<span class="preprocessor">#endif // HOKUYOUTM30LX_H</span></div>
182<div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:77</div></div>
183<div class="ttc" id="classflair_1_1sensor_1_1_laser_range_finder_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_laser_range_finder.html">flair::sensor::LaserRangeFinder</a></div><div class="ttdoc">Classe generique intégrant les telemetres laser. </div><div class="ttdef"><b>Definition:</b> LaserRangeFinder.h:38</div></div>
184<div class="ttc" id="classflair_1_1core_1_1cvmatrix_html"><div class="ttname"><a href="classflair_1_1core_1_1cvmatrix.html">flair::core::cvmatrix</a></div><div class="ttdoc">Class defining a matrix of kind CvMat. </div><div class="ttdef"><b>Definition:</b> cvmatrix.h:33</div></div>
185<div class="ttc" id="classflair_1_1core_1_1_mutex_html"><div class="ttname"><a href="classflair_1_1core_1_1_mutex.html">flair::core::Mutex</a></div><div class="ttdoc">Class defining a mutex. </div><div class="ttdef"><b>Definition:</b> Mutex.h:29</div></div>
186<div class="ttc" id="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx.html">flair::sensor::HokuyoUTM30Lx</a></div><div class="ttdoc">Classe intégrant le telemetre laser Hokuyo UTM 30lx. </div><div class="ttdef"><b>Definition:</b> HokuyoUTM30Lx.h:43</div></div>
187<div class="ttc" id="classflair_1_1core_1_1_serial_port_html"><div class="ttname"><a href="classflair_1_1core_1_1_serial_port.html">flair::core::SerialPort</a></div><div class="ttdoc">Base class for serial port. </div><div class="ttdef"><b>Definition:</b> SerialPort.h:25</div></div>
188<div class="ttc" id="classflair_1_1core_1_1_framework_manager_html"><div class="ttname"><a href="classflair_1_1core_1_1_framework_manager.html">flair::core::FrameworkManager</a></div><div class="ttdoc">Main class of the Framework library. </div><div class="ttdef"><b>Definition:</b> FrameworkManager.h:45</div></div>
189<div class="ttc" id="classflair_1_1gui_1_1_tab_widget_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab_widget.html">flair::gui::TabWidget</a></div><div class="ttdoc">Class displaying a QTabWidget on the ground station. </div><div class="ttdef"><b>Definition:</b> TabWidget.h:29</div></div>
190<div class="ttc" id="_thread_8h_html"><div class="ttname"><a href="_thread_8h.html">Thread.h</a></div><div class="ttdoc">Abstract class for a thread. </div></div>
191<div class="ttc" id="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx_html_af71c2d5cbc5f79bf45f759836c6db8a3"><div class="ttname"><a href="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx.html#af71c2d5cbc5f79bf45f759836c6db8a3">flair::sensor::HokuyoUTM30Lx::UseDefaultPlot</a></div><div class="ttdeci">void UseDefaultPlot(void)</div><div class="ttdoc">Use default plot. </div></div>
192<div class="ttc" id="classflair_1_1core_1_1_thread_html"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html">flair::core::Thread</a></div><div class="ttdoc">Abstract class for a thread. </div><div class="ttdef"><b>Definition:</b> Thread.h:38</div></div>
193<div class="ttc" id="_laser_range_finder_8h_html"><div class="ttname"><a href="_laser_range_finder_8h.html">LaserRangeFinder.h</a></div><div class="ttdoc">Classe generique des telemetres laser. </div></div>
194<div class="ttc" id="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx_html_a703cae77132737a94a915e63d55995b5"><div class="ttname"><a href="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx.html#a703cae77132737a94a915e63d55995b5">flair::sensor::HokuyoUTM30Lx::~HokuyoUTM30Lx</a></div><div class="ttdeci">~HokuyoUTM30Lx()</div><div class="ttdoc">Destructor. </div></div>
195<div class="ttc" id="classflair_1_1gui_1_1_range_finder_plot_html"><div class="ttname"><a href="classflair_1_1gui_1_1_range_finder_plot.html">flair::gui::RangeFinderPlot</a></div><div class="ttdoc">Class displaying a 2D plot on the ground station for laser range finder like Hokuyo. </div><div class="ttdef"><b>Definition:</b> RangeFinderPlot.h:37</div></div>
196<div class="ttc" id="_mutex_8h_html"><div class="ttname"><a href="_mutex_8h.html">Mutex.h</a></div><div class="ttdoc">Class defining a mutex. </div></div>
197<div class="ttc" id="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx_html_a103a5681f23b69dc739da0b70ebcd5ea"><div class="ttname"><a href="classflair_1_1sensor_1_1_hokuyo_u_t_m30_lx.html#a103a5681f23b69dc739da0b70ebcd5ea">flair::sensor::HokuyoUTM30Lx::HokuyoUTM30Lx</a></div><div class="ttdeci">HokuyoUTM30Lx(const core::FrameworkManager *parent, std::string name, core::SerialPort *serialport, uint8_t priority)</div><div class="ttdoc">Constructor. </div></div>
198<div class="ttc" id="classflair_1_1gui_1_1_tab_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab.html">flair::gui::Tab</a></div><div class="ttdoc">Class displaying a QTab on the ground station. </div><div class="ttdef"><b>Definition:</b> Tab.h:29</div></div>
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