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LaserProxy Class Reference [Proxies] #include <playerclient.h> Inherits ClientProxy. List of all members. Detailed Description The LaserProxy class is used to control a laser device. The latest scan data is held in two arrays: ranges and intensity. The laser scan range, resolution and so on can be configured using the Configure() method. Public Member Functions   LaserProxy (PlayerClient *pc, unsigned short index, unsigned char access='c') int  SetLaserState (const unsigned char state) int  Configure (double min_angle, double max_angle, unsigned int scan_res, unsigned int range_res, bool intensity) int  GetConfigure () int  RangeCount ()   Get the number of range/intensity readings. double  Ranges (int index)   An alternate way to access the range data. double  MinLeft () double  MinRight () double  operator[] (unsigned int index) void  FillData (player_msghdr_t hdr, const char *buffer) void  Print ()   Print out the current configuration and laser range/intensity data. void  PrintConfig ()   Print out the current configuration. Public Attributes int  scan_count   Number of points in scan. double  scan_res double  min_angle double  max_angle double  range_res   Range resolution of scan (mm). bool  intensity   Whether or not reflectance (i.e., intensity) values are being returned. double  scan [PLAYER_LASER_MAX_SAMPLES][2]   Scan data (polar): range (m) and bearing (radians). double  point [PLAYER_LASER_MAX_SAMPLES][2]   Scan data (Cartesian): x,y (m). unsigned char  intensities [PLAYER_LASER_MAX_SAMPLES]   The reflected intensity values (arbitrary units in range 0-7). double  min_right double  min_left Constructor & Destructor Documentation LaserProxy::LaserProxy (  PlayerClient *  pc, unsigned short  index, unsigned char  access = 'c' )  [inline]   Constructor. Leave the access field empty to start unconnected. Member Function Documentation int LaserProxy::SetLaserState (  const unsigned char  state  )    Enable/disable the laser. Set state to 1 to enable, 0 to disable. Note that when laser is disabled the client will still receive laser data, but the ranges will always be the last value read from the laser before it was disabled. Returns 0 on success, -1 if there is a problem. Note: The sicklms200 driver currently does not implement this feature. int LaserProxy::Configure (  double  min_angle, double  max_angle, unsigned int  scan_res, unsigned int  range_res, bool  intensity )    Configure the laser scan pattern. Angles min_angle and max_angle are measured in radians. scan_res is measured in units of ; valid values are: 25 (), 50 () and ). range_res is measured in mm; valid values are: 1, 10, 100. Set intensity to true to enable intensity measurements, or false to disable. Returns the 0 on success, or -1 of there is a problem. int LaserProxy::GetConfigure (   )    Get the current laser configuration; it is read into the relevant class attributes. Returns the 0 on success, or -1 of there is a problem. int LaserProxy::RangeCount (   )  [inline]   Get the number of range/intensity readings. double LaserProxy::Ranges (  int  index  )  [inline]   An alternate way to access the range data. double LaserProxy::MinLeft (   )  [inline] double LaserProxy::MinRight (   )  [inline] double LaserProxy::operator[] (  unsigned int  index  )  [inline]   Range access operator. This operator provides an alternate way of access the range data. For example, given an LaserProxy named lp, the following expressions are equivalent: lp.ranges[0], lp.Ranges(0), and lp[0]. void LaserProxy::FillData (  player_msghdr_t  hdr, const char *  buffer )  [virtual]   All proxies must provide this method. It is used internally to parse new data when it is received. Reimplemented from ClientProxy. void LaserProxy::Print (   )  [virtual]   Print out the current configuration and laser range/intensity data. Reimplemented from ClientProxy. void LaserProxy::PrintConfig (   )    Print out the current configuration. Member Data Documentation int LaserProxy::scan_count   Number of points in scan. double LaserProxy::scan_res   Angular resolution of scan (radians) double LaserProxy::min_angle   Scan range for the latest set of data (radians) double LaserProxy::max_angle   Scan range for the latest set of data (radians) double LaserProxy::range_res   Range resolution of scan (mm). bool LaserProxy::intensity   Whether or not reflectance (i.e., intensity) values are being returned. double LaserProxy::scan[PLAYER_LASER_MAX_SAMPLES][2]   Scan data (polar): range (m) and bearing (radians). double LaserProxy::point[PLAYER_LASER_MAX_SAMPLES][2]   Scan data (Cartesian): x,y (m). unsigned char LaserProxy::intensities[PLAYER_LASER_MAX_SAMPLES]   The reflected intensity values (arbitrary units in range 0-7). double LaserProxy::min_right double LaserProxy::min_left The documentation for this class was generated from the following file: playerclient.h