Architecture Tutorial: Retrieve laser scans - Revision history

Admin: /* Calling getObservations */

2009-07-23T17:58:12Z

‎Calling getObservations

Admin: /* Calling getObservations */

2009-07-23T17:55:08Z

‎Calling getObservations

Admin at 17:52, 23 July 2009

2009-07-23T17:52:51Z

Jlblanco: /* Calling getObservations */

2009-07-23T09:20:00Z

‎Calling getObservations

Jlblanco: /* Calling getObservations */

2009-07-23T09:18:22Z

‎Calling getObservations

Jlblanco: /* Overview */

2009-07-23T07:16:28Z

‎Overview

Jlblanco: /* Overview */

2009-07-23T07:16:13Z

‎Overview

Jlblanco: /* Auxiliary code */

2009-07-22T21:58:34Z

‎Auxiliary code

Jlblanco: /* Calling getObservations */

2009-07-22T21:55:40Z

‎Calling getObservations

Jlblanco: /* Calling getObservations */

2009-07-22T21:49:47Z

‎Calling getObservations

@@ Line 65: / Line 65: @@
 	// communication error
+}
-CObservation2DRangeScanPtr laserScan; // A smart-pointer to the laser scan (read below)
+	if (!sensorError)
+	{
-		// De-serialize the object:
+		try
-		mrpt::utils::CSerializablePtr obj = SeqOfBytes2MRPTObject(SF);
-		// Assure it's a valid observation:
+			// Assure it's a valid observation (if not, the "catch" block will take control):
-		ASSERT_(obj)
+			ASSERT_(obj)
-		ASSERT_( IS_CLASS(obj,CSensoryFrame) )
+			ASSERT_( IS_CLASS(obj,CSensoryFrame) )
-		CSensoryFramePtr theSF = CSensoryFramePtr(obj);
+			CSensoryFramePtr theSF = CSensoryFramePtr(obj);
-		laserScan = theSF->getObservationByClass<CObservation2DRangeScan>(); // Get the first scan, if any.
+			laserScan = theSF->getObservationByClass<CObservation2DRangeScan>(); // Get the first scan, if any.
+	}
-// Free memory of the Sequence
+	// Free memory of the Sequence
 	delete SF;
 	SF = NULL;
-// Now, we have the latest scan laser in the variable "laserScan", which
+	// Now, we have the latest scan laser in the variable "laserScan", which
-//  is a smart pointer to a mrpt::slam::CObservation2DRangeScan
+	//  is a smart pointer to a mrpt::slam::CObservation2DRangeScan
-// -------------------------------------------------------------------------
+	// -------------------------------------------------------------------------
-if (laserScan)
+	if (laserScan)
-−
+	{
-	// ******* YOUR CODE HERE **************
+		// ******* YOUR CODE HERE **************
-	// Access to the object data members to get the scan data.
+		// Access to the object data members to get the scan data.
-	// Refer to: http://babel.isa.uma.es/mrpt/reference/svn/classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html
+		// Refer to: http://babel.isa.uma.es/mrpt/reference/svn/classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html
-	// Examples:
+		// Examples:
-	//   Scan size: laserScan->scan.size()
+		//   Scan size: laserScan->scan.size()
-	//   Scan point[0]: laserScan->scan[0]
+		//   Scan point[0]: laserScan->scan[0]
-	//   Scan point[0] is valid: laserScan->validRange[0]!=0
+		//   Scan point[0] is valid: laserScan->validRange[0]!=0
+}
 </cpp>

@@ Line 58: / Line 58: @@
 bool err_var;                              // BABEL communication error?
-/** ARACNE_ATOM_HERE  **/
+/**** ARACNE_ATOM_HERE  ****/
-// Error? Propagate it:
+// Communications error? Propagate it:
 if (err_var)
+{
-	// process error
+	// communication error
+}

← Older revision		Revision as of 17:52, 23 July 2009
Line 6:		Line 6:


−	'''Notice that this tutorial only covers the specific case of ~~implementing a~~ module ~~with~~ the C/C++ language.'''	+	'''Notice that this tutorial only covers the specific case of writing the codification of the client module in the C/C++ language.'''

← Older revision		Revision as of 09:20, 23 July 2009
Line 43:		Line 43:
	* The point "ARACNE_ATOM_HERE" at which the aracne atom "request-synchronous&blocking" must be inserted.		* The point "ARACNE_ATOM_HERE" at which the aracne atom "request-synchronous&blocking" must be inserted.

−	Also, note that the macro #JMS-INCLUDE()#, if not inserted through the BABEL menu will NOT automatically add the dependency to your module, so it is recommended to either add the dependency on "BS_RangeSensors::getObservations" manually (first BABEL_MD tab, "Deps" button) or to insert the JMS macro from the menu and fill the parameters by hand (see the correct order of the parameters in the code below).	+
		+

@@ Line 15: / Line 15: @@
 === Calling ''getObservations'' ===
-At the point in your module where you need to request the laser scans, this service from  BS_RangeSensors must be invoked:
+At the point in your module where you need to request the laser scans, the service "getObservations" from "BS_RangeSensors" must be invoked. This is the definition of that service, just to know how it looks like:
-<cpp>
+<center>
-::getObservations(
+[[Image:tut-scans_service.jpg]]
-out SeqOfBytes SF,
+</center>
-out boolean error
-−
-</cpp>
+To call that service, '''you must use the aracne-atom "request-synchronous&blocking"'''. It can be inserted in your code from the BABEL_MD menu.
-For doing so, use the following fragment of code, explained in the comments.
+You can use the following fragments of code, self-explained in its comments.
-Pay attention to the label "YOUR CODE HERE" for the place where to process the laser scan.
+'''Pay attention to''':
 Also, note that the macro #JMS-INCLUDE()#, if not inserted through the BABEL menu will NOT automatically add the dependency to your module, so it is recommended to either add the dependency on "BS_RangeSensors::getObservations" manually (first BABEL_MD tab, "Deps" button) or to insert the JMS macro from the menu and fill the parameters by hand (see the correct order of the parameters in the code below).
@@ Line 41: / Line 57: @@
 bool err_var;                              // BABEL communication error?
-#JMS-INCLUDE(INC_request-synchronous&blocking,"getObservations","BS_RangeSensors","getObservations","REMOTE_BS_RangeSensors_var","SF,sensorError","err_var","0","INF","","","")#
+/** ARACNE_ATOM_HERE  **/
 // Error? Propagate it:
 if (err_var)
+{
-	std::cerr << "[OnNewRangeData] *** ERROR querying the module *** " << std::endl;
+	// process error
+}
@@ Line 69: / Line 85: @@
 	catch(std::exception &e)
+	{
-		std::cerr << "Exception parsing binary object: " << std::endl << e.what() << std::endl;
+		// Process ERROR, message in e.what()
+	}
+}
@@ Line 89: / Line 105: @@
 	// Access to the object data members to get the scan data.
 	// Refer to: http://babel.isa.uma.es/mrpt/reference/svn/classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html
-	// Example:
+	// Examples:
-	cout << "Scan size: " << laserScan->scan.size() << endl;
+	//   Scan size: laserScan->scan.size()
-	cout << "Scan point[0]: " << laserScan->scan[0] << endl;
+	//   Scan point[0]: laserScan->scan[0]
-	cout << "Scan point[0] is valid: " << laserScan->validRange[0]!=0 ? "Yes" : "No" << endl;
+	//   Scan point[0] is valid: laserScan->validRange[0]!=0
+}
 else

← Older revision		Revision as of 07:16, 23 July 2009
Line 7:		Line 7:

	'''Notice that this tutorial only covers the specific case of implementing a module with the C/C++ language.'''		'''Notice that this tutorial only covers the specific case of implementing a module with the C/C++ language.'''
		+
		+
		+	<br>

	== Steps ==		== Steps ==

← Older revision		Revision as of 07:16, 23 July 2009
Line 4:		Line 4:

	The interface of this module is described in [[Architecture:Specification_of_BABEL_Interfaces#Common_Sensory_Interface\| this section]] and this tutorial explains how to write a client module to query the latest laser scans from ''BS_RangeSensors''.		The interface of this module is described in [[Architecture:Specification_of_BABEL_Interfaces#Common_Sensory_Interface\| this section]] and this tutorial explains how to write a client module to query the latest laser scans from ''BS_RangeSensors''.
		+
		+
		+	'''Notice that this tutorial only covers the specific case of implementing a module with the C/C++ language.'''

	== Steps ==		== Steps ==

@@ Line 97: / Line 97: @@
 === Auxiliary code ===
-Add the following auxiliary function to your module "Auxility logic" section, since this function is used in the code above:
+Add the following auxiliary function to your module "Auxiliary logic" section, since this function is used in the code above:
 <cpp>
@@ Line 112: / Line 112: @@
+}
 </cpp>
 === Non-deportabilities of the module  ===

← Older revision		Revision as of 21:55, 22 July 2009
Line 21:		Line 21:
	Pay attention to the label "YOUR CODE HERE" for the place where to process the laser scan.		Pay attention to the label "YOUR CODE HERE" for the place where to process the laser scan.

−	Also, note that the macro #JMS-INCLUDE()#, if not inserted through the BABEL menu will NOT automatically add the dependency to your module, so it is recommended to either add the dependency on "BS_RangeSensors::getObservations" manually or ~~inserting~~ the JMS macro from the ~~many~~ and fill the parameters by hand.	+	Also, note that the macro #JMS-INCLUDE()#, if not inserted through the BABEL menu will NOT automatically add the dependency to your module, so it is recommended to either add the dependency on "BS_RangeSensors::getObservations" manually (first BABEL_MD tab, "Deps" button) or to insert the JMS macro from the menu and fill the parameters by hand (see the correct order of the parameters in the code below).