playerc_laser_t Struct Reference

Laser proxy data. More...

#include <playerc.h>

Collaboration diagram for playerc_laser_t:

List of all members.


Detailed Description

Laser proxy data.

Public Attributes

playerc_device_t info
 Device info; must be at the start of all device structures.
double pose [3]
 Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent.
double size [2]
double robot_pose [3]
 Robot pose (m,m,rad), filled in if the scan came with a pose attached.
int intensity_on
 Is intesity data returned.
int scan_count
 Number of points in the scan.
double scan_start
 Start bearing of the scan (radians).
double scan_res
 Angular resolution in radians.
double range_res
 Range resolution, in m.
double max_range
 Maximum range of sensor, in m.
double scanning_frequency
 Scanning frequency in Hz.
double * ranges
 Raw range data; range (m).
double(* scan )[2]
 Scan data; range (m) and bearing (radians).
player_point_2d_tpoint
 Scan data; x, y position (m).
int * intensity
 Scan reflection intensity values (0-3).
int scan_id
 ID for this scan.
int laser_id
 Laser IDentification information.
double min_right
 Minimum range, in meters, in the right half of the scan (those ranges from the first beam, counterclockwise, up to the middle of the scan, including the middle beam, if one exists).
double min_left
 Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the middle of the scan, counterclockwise, to the last beam).

Member Data Documentation

Device info; must be at the start of all device structures.

Scan reflection intensity values (0-3).

Note that the intensity values will only be filled if intensity information is enabled (using the set_config function).

Is intesity data returned.

Maximum range of sensor, in m.

Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the middle of the scan, counterclockwise, to the last beam).

Minimum range, in meters, in the right half of the scan (those ranges from the first beam, counterclockwise, up to the middle of the scan, including the middle beam, if one exists).

Scan data; x, y position (m).

Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent.

These values are filled in by playerc_laser_get_geom().

Range resolution, in m.

Raw range data; range (m).

double(* playerc_laser_t::scan)[2]

Scan data; range (m) and bearing (radians).

Number of points in the scan.

Angular resolution in radians.

Start bearing of the scan (radians).

Scanning frequency in Hz.


The documentation for this struct was generated from the following file: