Aria  2.8.0
lineFinderExample.cpp

Simple example of Aria's line-finder utility, which uses data from a laser rangefinder to detect a continues line of points.This example program will constantly search for a line-like pattern in the sensor readings of a laser rangefinder. If you press the 'f' key, those points will be saved in 'points' and 'lines' files. Use arrow keys or joystick to teleoperate the robot.

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
int main(int argc, char **argv)
{
ArSimpleConnector connector(&argc, argv);
ArRobot robot;
ArSick sick;
if (!Aria::parseArgs() || argc > 1)
{
Aria::exit(1); // exit program with error code 1
return 1;
}
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
robot.addRangeDevice(&sick);
// Create the ArLineFinder object. Set it to log lots of information about its
// processing.
ArLineFinder lineFinder(&sick);
lineFinder.setVerbose(true);
// Add key callbacks that simply call the ArLineFinder::getLinesAndSaveThem()
// function, which searches for lines in the current set of laser sensor
// readings, and saves them in files with the names 'points' and 'lines'.
ArFunctorC<ArLineFinder> findLineCB(&lineFinder,
keyHandler.addKeyHandler('f', &findLineCB);
keyHandler.addKeyHandler('F', &findLineCB);
ArLog::log(ArLog::Normal, "lineFinderExample: connecting to robot...");
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1); // exit program with error code 1
return 1;
}
robot.runAsync(true);
// now set up the laser
ArLog::log(ArLog::Normal, "lineFinderExample: connecting to SICK laser...");
connector.setupLaser(&sick);
sick.runAsync();
if (!sick.blockingConnect())
{
printf("Could not connect to SICK laser... exiting\n");
return 1;
}
printf("If you press the 'f' key the points and lines found will be saved\n");
printf("Into the 'points' and 'lines' file in the current working directory\n");
robot.waitForRunExit();
return 0;
}
ArSick
Compatability class used to access SICK LMS-200 laser rangefinder device in versions of ARIA prior to...
Definition: ArSick.h:48
ArFunctorC
Functor for a member function.
Definition: ArFunctor.h:1825
ArKeyHandler
Perform actions when keyboard keys are pressed.
Definition: ArKeyHandler.h:65
ArSimpleConnector::setupLaser
bool setupLaser(ArSick *laser)
Sets up the laser to be connected.
Definition: ArSimpleConnector.cpp:226
ArLineFinder
This class finds lines out of any range device with raw readings (lasers for instance)
Definition: ArLineFinder.h:41
ArSimpleConnector
Legacy connector for robot and laser.
Definition: ArSimpleConnector.h:51
ArLMS2xx::blockingConnect
virtual bool blockingConnect(void)
Connect to the laser while blocking.
Definition: ArLMS2xx.cpp:1206
Aria::setKeyHandler
static void setKeyHandler(ArKeyHandler *keyHandler)
Sets the key handler, so that other classes can find it using getKeyHandler()
Definition: Aria.cpp:624
ArSimpleConnector::connectRobot
bool connectRobot(ArRobot *robot)
Sets up the robot then connects it.
Definition: ArSimpleConnector.cpp:209
ArRobot::addRangeDevice
void addRangeDevice(ArRangeDevice *device)
Adds a rangeDevice to the robot's list of them, and set the ArRangeDevice object's robot pointer to t...
Definition: ArRobot.cpp:5757
Aria::exit
static void exit(int exitCode=0)
Shutdown all Aria processes/threads, call exit callbacks, and exit the program.
Definition: Aria.cpp:367
ArLog::log
static void log(LogLevel level, const char *str,...)
Log a message, with formatting and variable number of arguments.
Definition: ArLog.cpp:93
ArLineFinder::setVerbose
void setVerbose(bool verbose)
Whether to print verbose information about line decisions.
Definition: ArLineFinder.h:69
ArKeyHandler::addKeyHandler
bool addKeyHandler(int keyToHandle, ArFunctor *functor)
This adds a keyhandler, when the keyToHandle is hit, functor will fire.
Definition: ArKeyHandler.cpp:144
Aria::init
static void init(SigHandleMethod method=SIGHANDLE_THREAD, bool initSockets=true, bool sigHandleExitNotShutdown=true)
Initialize Aria global data struture and perform OS-specific initialization, including adding OS sign...
Definition: Aria.cpp:128
ArRobot
Central class for communicating with and operating the robot.
Definition: ArRobot.h:82
Aria::logOptions
static void logOptions(void)
Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB())
Definition: Aria.cpp:794
ArLineFinder::getLinesAndSaveThem
void getLinesAndSaveThem(void)
Gets the lines, then prints them.
Definition: ArLineFinder.cpp:644
ArRangeDeviceThreaded::runAsync
virtual void runAsync(void)
Run in its own thread.
Definition: ArRangeDeviceThreaded.h:58
ArRobot::runAsync
void runAsync(bool stopRunIfNotConnected, bool runNonThreadedPacketReader=false)
Starts the instance to do processing in its own new thread.
Definition: ArRobot.cpp:301
Aria::parseArgs
static bool parseArgs(void)
Parses the arguments for the program (calls all the callbacks added with addParseArgsCB())
Definition: Aria.cpp:759
ArLog::Normal
Use normal logging.
Definition: ArLog.h:62
ArRobot::attachKeyHandler
void attachKeyHandler(ArKeyHandler *keyHandler, bool exitOnEscape=true, bool useExitNotShutdown=true)
Attachs a key handler.
Definition: ArRobot.cpp:6641
ArRobot::waitForRunExit
WaitState waitForRunExit(unsigned int msecs=0)
Suspend calling thread until the ArRobot run loop has exited.
Definition: ArRobot.cpp:2923