laser

The laser proxy provides an interface to scanning laser range finders such as the sicklms200. More...


Detailed Description

The laser proxy provides an interface to scanning laser range finders such as the sicklms200.

Data is returned in the playerc_laser_t structure.

This proxy wraps the low-level laser interface.

Classes

struct  playerc_laser_t
 Laser proxy data. More...

Functions

PLAYERC_EXPORT playerc_laser_tplayerc_laser_create (playerc_client_t *client, int index)
 Create a laser proxy.
PLAYERC_EXPORT void playerc_laser_destroy (playerc_laser_t *device)
 Destroy a laser proxy.
PLAYERC_EXPORT int playerc_laser_subscribe (playerc_laser_t *device, int access)
 Subscribe to the laser device.
PLAYERC_EXPORT int playerc_laser_unsubscribe (playerc_laser_t *device)
 Un-subscribe from the laser device.
PLAYERC_EXPORT int playerc_laser_set_config (playerc_laser_t *device, double min_angle, double max_angle, double resolution, double range_res, unsigned char intensity, double scanning_frequency)
 Configure the laser.
PLAYERC_EXPORT int playerc_laser_get_config (playerc_laser_t *device, double *min_angle, double *max_angle, double *resolution, double *range_res, unsigned char *intensity, double *scanning_frequency)
 Get the laser configuration.
PLAYERC_EXPORT int playerc_laser_get_geom (playerc_laser_t *device)
 Get the laser geometry.
PLAYERC_EXPORT int playerc_laser_get_id (playerc_laser_t *device)
 Get the laser IDentification information.
PLAYERC_EXPORT void playerc_laser_printout (playerc_laser_t *device, const char *prefix)
 Print a human-readable summary of the laser state on stdout.

Function Documentation

PLAYERC_EXPORT playerc_laser_t* playerc_laser_create ( playerc_client_t client,
int  index 
)

Create a laser proxy.

PLAYERC_EXPORT void playerc_laser_destroy ( playerc_laser_t device)

Destroy a laser proxy.

PLAYERC_EXPORT int playerc_laser_get_config ( playerc_laser_t device,
double *  min_angle,
double *  max_angle,
double *  resolution,
double *  range_res,
unsigned char *  intensity,
double *  scanning_frequency 
)

Get the laser configuration.

Parameters:
devicePointer to proxy object.
min_angle,max_angleStart and end angles for the scan (radians).
resolutionAngular resolution in radians. Valid values depend on the underlyling driver.
range_resRange resolution in m. Valid values depend on the underlyling driver.
intensityIntensity flag; set to 1 to enable reflection intensity data.
scanning_frequencyScanning frequency in Hz. Valid values depend on the underlyling driver.
Returns:
Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message.
PLAYERC_EXPORT int playerc_laser_get_geom ( playerc_laser_t device)

Get the laser geometry.

This writes the result into the proxy rather than returning it to the caller.

PLAYERC_EXPORT int playerc_laser_get_id ( playerc_laser_t device)

Get the laser IDentification information.

This writes the result into the proxy rather than returning it to the caller.

PLAYERC_EXPORT void playerc_laser_printout ( playerc_laser_t device,
const char *  prefix 
)

Print a human-readable summary of the laser state on stdout.

PLAYERC_EXPORT int playerc_laser_set_config ( playerc_laser_t device,
double  min_angle,
double  max_angle,
double  resolution,
double  range_res,
unsigned char  intensity,
double  scanning_frequency 
)

Configure the laser.

Parameters:
devicePointer to proxy object.
min_angle,max_angleStart and end angles for the scan (radians).
resolutionAngular resolution in radians. Valid values depend on the underlyling driver.
range_resRange resolution in m. Valid values depend on the underlyling driver.
intensityIntensity flag; set to 1 to enable reflection intensity data.
scanning_frequencyScanning frequency in Hz. Valid values depend on the underlyling driver.
Returns:
Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message.
PLAYERC_EXPORT int playerc_laser_subscribe ( playerc_laser_t device,
int  access 
)

Subscribe to the laser device.

PLAYERC_EXPORT int playerc_laser_unsubscribe ( playerc_laser_t device)

Un-subscribe from the laser device.