/usr/include/Aria/ArLaserFilter.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 | /*
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
*/
#ifndef ARLASERFILTER_H
#define ARLASERFILTER_H
#include "ArLaser.h"
#include "ArFunctor.h"
class ArRobot;
class ArConfig;
/// Range device with data obtained from another range device and filtered
/**
This is a class for generically filtering laser readings, either to
separate out ones that are too far or too close compared to their
neighbors. The filtering parameters can be adjusted on line
through ArConfig options.
This implements ArLaser and so can be used like any other laser,
though you have to set all its options before you create this and
probably should connect it too. Then you should replace the
original laser on ArRobot with this one, and replace the original
laser as a range device too.
**/
class ArLaserFilter : public ArLaser
{
public:
/// Constructor
AREXPORT ArLaserFilter(ArLaser *laser, const char *name = NULL);
/// Destructor
AREXPORT ~ArLaserFilter();
/// Set robot
AREXPORT virtual void setRobot(ArRobot *robot);
/// Add to the config
AREXPORT void addToConfig(ArConfig *config, const char *sectionName,
const char *prefix = "");
AREXPORT virtual bool blockingConnect(void)
{ return myLaser->blockingConnect(); }
AREXPORT virtual bool asyncConnect(void)
{ return myLaser->asyncConnect(); }
AREXPORT virtual bool disconnect(void)
{ return myLaser->disconnect(); }
AREXPORT virtual bool isConnected(void)
{ return myLaser->isConnected(); }
AREXPORT virtual bool isTryingToConnect(void)
{ return myLaser->isTryingToConnect(); }
AREXPORT virtual void *runThread(void *arg) { return NULL; }
AREXPORT virtual bool laserCheckParams(void)
{
if (!myLaser->laserCheckParams())
return false;
laserSetAbsoluteMaxRange(myLaser->getAbsoluteMaxRange());
return true;
}
/// Gets the base laser this is filtering
ArLaser *getBaseLaser(void) { return myLaser; }
protected:
AREXPORT int selfLockDevice(void);
AREXPORT int selfTryLockDevice(void);
AREXPORT int selfUnlockDevice(void);
ArLaser *myLaser;
// Parameters
double myAngleToCheck;
double myAllFactor;
double myAnyFactor;
double myAnyMinRange;
double myAnyMinRangeLessThanAngle;
double myAnyMinRangeGreaterThanAngle;
/// Does the check against all neighbor factor
bool checkRanges(int thisReading, int otherReading, double factor);
// Callback to do the actual filtering
void processReadings(void);
ArFunctorC<ArLaserFilter> myProcessCB;
};
#endif // ARLASERFILTER
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