ranger

The ranger proxy provides an interface to ranger sensor devices. More...


Detailed Description

The ranger proxy provides an interface to ranger sensor devices.

Classes

struct  playerc_ranger_t
 Ranger proxy data. More...

Functions

PLAYERC_EXPORT playerc_ranger_tplayerc_ranger_create (playerc_client_t *client, int index)
 Create a ranger proxy.
PLAYERC_EXPORT void playerc_ranger_destroy (playerc_ranger_t *device)
 Destroy a ranger proxy.
PLAYERC_EXPORT int playerc_ranger_subscribe (playerc_ranger_t *device, int access)
 Subscribe to the ranger device.
PLAYERC_EXPORT int playerc_ranger_unsubscribe (playerc_ranger_t *device)
 Un-subscribe from the ranger device.
PLAYERC_EXPORT int playerc_ranger_get_geom (playerc_ranger_t *device)
 Get the ranger geometry.
PLAYERC_EXPORT int playerc_ranger_power_config (playerc_ranger_t *device, uint8_t value)
 Turn device power on or off.
PLAYERC_EXPORT int playerc_ranger_intns_config (playerc_ranger_t *device, uint8_t value)
 Turn intensity data on or off.
PLAYERC_EXPORT int playerc_ranger_set_config (playerc_ranger_t *device, double min_angle, double max_angle, double angular_res, double min_range, double max_range, double range_res, double frequency)
 Set the ranger device's configuration.
PLAYERC_EXPORT int playerc_ranger_get_config (playerc_ranger_t *device, double *min_angle, double *max_angle, double *angular_res, double *min_range, double *max_range, double *range_res, double *frequency)
 Get the ranger device's configuration.

Function Documentation

PLAYERC_EXPORT playerc_ranger_t* playerc_ranger_create ( playerc_client_t client,
int  index 
)

Create a ranger proxy.

PLAYERC_EXPORT void playerc_ranger_destroy ( playerc_ranger_t device)

Destroy a ranger proxy.

PLAYERC_EXPORT int playerc_ranger_get_config ( playerc_ranger_t device,
double *  min_angle,
double *  max_angle,
double *  angular_res,
double *  min_range,
double *  max_range,
double *  range_res,
double *  frequency 
)

Get the ranger device's configuration.

Not all values may be filled.

Parameters:
devicePointer to ranger device.
min_angleStart angle of scans [rad].
max_angleEnd angle of scans [rad].
angular_resScan resolution [rad].
min_rangeMinimum range [m].
max_rangeMaximum range [m].
range_resRange resolution [m].
frequencyScanning frequency [Hz].
PLAYERC_EXPORT int playerc_ranger_get_geom ( playerc_ranger_t device)

Get the ranger geometry.

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

PLAYERC_EXPORT int playerc_ranger_intns_config ( playerc_ranger_t device,
uint8_t  value 
)

Turn intensity data on or off.

Parameters:
devicePointer to ranger device.
valueSet to TRUE to turn the data on, FALSE to turn the data off.
PLAYERC_EXPORT int playerc_ranger_power_config ( playerc_ranger_t device,
uint8_t  value 
)

Turn device power on or off.

Parameters:
devicePointer to ranger device.
valueSet to TRUE to turn power on, FALSE to turn power off.
PLAYERC_EXPORT int playerc_ranger_set_config ( playerc_ranger_t device,
double  min_angle,
double  max_angle,
double  angular_res,
double  min_range,
double  max_range,
double  range_res,
double  frequency 
)

Set the ranger device's configuration.

Not all values may be used.

Parameters:
devicePointer to ranger device.
min_angleStart angle of scans [rad].
max_angleEnd angle of scans [rad].
angular_resScan resolution [rad].
min_rangeMinimum range[m].
max_rangeMaximum range [m].
range_resRange resolution [m].
frequencyScanning frequency [Hz].
PLAYERC_EXPORT int playerc_ranger_subscribe ( playerc_ranger_t device,
int  access 
)

Subscribe to the ranger device.

PLAYERC_EXPORT int playerc_ranger_unsubscribe ( playerc_ranger_t device)

Un-subscribe from the ranger device.