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laser [Proxies] 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_laser_t *  playerc_laser_create (playerc_client_t *client, int index)   Create a laser proxy. void  playerc_laser_destroy (playerc_laser_t *device)   Destroy a laser proxy. int  playerc_laser_subscribe (playerc_laser_t *device, int access)   Subscribe to the laser device. int  playerc_laser_unsubscribe (playerc_laser_t *device)   Un-subscribe from the laser device. void  playerc_laser_putdata (playerc_laser_t *device, player_msghdr_t *header, player_laser_data_t *data, size_t len) int  playerc_laser_set_config (playerc_laser_t *device, double min_angle, double max_angle, int resolution, int range_res, int intensity)   Configure the laser. int  playerc_laser_get_config (playerc_laser_t *device, double *min_angle, double *max_angle, int *resolution, int *range_res, int *intensity)   Get the laser configuration. int  playerc_laser_get_geom (playerc_laser_t *device)   Get the laser geometry. Function Documentation playerc_laser_t* playerc_laser_create (  playerc_client_t *  client, int  index )    Create a laser proxy. void playerc_laser_destroy (  playerc_laser_t *  device  )    Destroy a laser proxy. int playerc_laser_subscribe (  playerc_laser_t *  device, int  access )    Subscribe to the laser device. int playerc_laser_unsubscribe (  playerc_laser_t *  device  )    Un-subscribe from the laser device. void playerc_laser_putdata (  playerc_laser_t *  device, player_msghdr_t *  header, player_laser_data_t *  data, size_t  len )    For internal use only. Parse data from incoming packet Todo: This modifies the the data packet, which is BAD; change to const pointer for all putdata functions and fix. int playerc_laser_set_config (  playerc_laser_t *  device, double  min_angle, double  max_angle, int  resolution, int  range_res, int  intensity )    Configure the laser. Parameters: device  Pointer to proxy object. min_angle,max_angle  Start and end angles for the scan (radians). resolution  Angular resolution in 0.01 degree increments. Valid values are 25, 50, 100. range_res  Range resolution in mm. Valid values are: 1, 10, 100. intensity  Intensity flag; set to 1 to enable reflection intensity data. Returns: Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message. int playerc_laser_get_config (  playerc_laser_t *  device, double *  min_angle, double *  max_angle, int *  resolution, int *  range_res, int *  intensity )    Get the laser configuration. Parameters: device  Pointer to proxy object. min_angle,max_angle  Start and end angles for the scan (radians). resolution  Angular resolution in 0.01 degree increments. Valid values are 25, 50, 100. range_res  Range resolution in mm. Valid values are: 1, 10, 100. intensity  Intensity flag; set to 1 to enable reflection intensity data. Returns: Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message. 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.