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laser [Interfaces] Detailed Description The laser interface provides access to a single-origin scanning range sensor, such as a SICK laser range-finder (e.g., sicklms200). Devices supporting the laser interface can be configured to scan at different angles and resolutions. As such, the data returned by the laser interface can take different forms. To make interpretation of the data simple, the laser data packet contains some extra fields before the actual range data. These fields tell the client the starting and ending angles of the scan, the angular resolution of the scan, and the number of range readings included. Scans proceed counterclockwise about the laser (0 degrees is forward). The laser can return a maximum of 401 readings; this limits the valid combinations of scan width and angular resolution. This interface accepts no commands. Classes struct   player_laser_data   Data. More... struct   player_laser_geom   Configuration request: Get geometry. More... struct   player_laser_config   Configuration request: Get/set scan properties. More... struct   player_laser_power_config   Configuration request: Turn power on/off. More... Defines #define  PLAYER_LASER_MAX_SAMPLES   401 #define  PLAYER_LASER_GET_GEOM   0x01 #define  PLAYER_LASER_SET_CONFIG   0x02 #define  PLAYER_LASER_GET_CONFIG   0x03 #define  PLAYER_LASER_POWER_CONFIG   0x04 Typedefs typedef player_laser_data  player_laser_data_t   Data. typedef player_laser_geom  player_laser_geom_t   Configuration request: Get geometry. typedef player_laser_config  player_laser_config_t   Configuration request: Get/set scan properties. typedef player_laser_power_config  player_laser_power_config_t   Configuration request: Turn power on/off. Define Documentation #define PLAYER_LASER_MAX_SAMPLES   401   The maximum number of laser range values #define PLAYER_LASER_GET_GEOM   0x01 #define PLAYER_LASER_SET_CONFIG   0x02 #define PLAYER_LASER_GET_CONFIG   0x03 #define PLAYER_LASER_POWER_CONFIG   0x04 Typedef Documentation typedef struct player_laser_data player_laser_data_t   Data. The laser data packet. typedef struct player_laser_geom player_laser_geom_t   Configuration request: Get geometry. The laser geometry (position and size) can be queried using the PLAYER_LASER_GET_GEOM request. The request and reply packets have the same format. typedef struct player_laser_config player_laser_config_t   Configuration request: Get/set scan properties. The scan configuration (resolution, aperture, etc) can be queried using the PLAYER_LASER_GET_CONFIG request and modified using the PLAYER_LASER_SET_CONFIG request. Read the documentation for your driver to determine what configuration values are permissible. typedef struct player_laser_power_config player_laser_power_config_t   Configuration request: Turn power on/off. Use this request to turn laser power on or off (assuming your hardware supports it).