PlayerCc::LaserProxy

PlayerCc::LaserProxy Class Reference
[Proxies]

#include <playerc++.h>

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 *aPc, uint aIndex=0)
	constructor
	~LaserProxy ()
	destructor
uint	GetCount () const
	Number of points in scan.
double	GetMaxRange () const
	Max range for the latest set of data (meters).
double	GetScanRes () const
	Angular resolution of scan (radians).
double	GetRangeRes () const
	Range resolution of scan (mm).
double	GetMinAngle () const
	Scan range for the latest set of data (radians).
double	GetMaxAngle () const
	Scan range for the latest set of data (radians).
bool	IntensityOn () const
	Whether or not reflectance (i.e., intensity) values are being returned.
player_point_2d_t	GetPoint (uint aIndex) const
	Scan data (Cartesian): x,y (m).
double	GetRange (uint aIndex) const
	get the range
double	GetBearing (uint aIndex) const
	get the bearing
int	GetIntensity (uint aIndex) const
	get the intensity
void	Configure (double aMinAngle, double aMaxAngle, uint aScanRes, uint aRangeRes, bool aIntensity)
	Configure the laser scan pattern.
void	RequestConfigure ()
	Get the current laser configuration; it is read into the relevant class attributes.
void	RequestGeom ()
	Get the laser's geometry; it is read into the relevant class attributes.
player_pose_t	GetPose ()
	Accessor for the pose of the laser with respect to its parent object (e.g., a robot).
player_pose_t	GetRobotPose ()
	Accessor for the pose of the laser's parent object (e.g., a robot).
player_bbox_t	GetSize ()
	Accessor for the size (fill it in by calling RequestGeom).
double	GetMinLeft () const
	Minimum range reading on the left side.
double	GetMinRight () const
	Minimum range reading on the right side.
double	MinLeft () const
double	MinRight () const
double	operator[] (uint index) const
	Range access operator.

Member Function Documentation

void PlayerCc::LaserProxy::Configure	(	double	aMinAngle,
		double	aMaxAngle,
		uint	aScanRes,
		uint	aRangeRes,
		bool	aIntensity
	)

Configure the laser scan pattern.

Angles min_angle and max_angle are measured in radians. scan_res is measured in units of 0.01 degrees; valid values are: 25 (0.25 deg), 50 (0.5 deg) and 100 (1 deg). range_res is measured in mm; valid values are: 1, 10, 100. Set intensity to true to enable intensity measurements, or false to disable.

player_pose_t PlayerCc::LaserProxy::GetPose ( ) [inline]

Accessor for the pose of the laser with respect to its parent object (e.g., a robot).

Fill it in by calling RequestGeom.

player_pose_t PlayerCc::LaserProxy::GetRobotPose ( ) [inline]

Accessor for the pose of the laser's parent object (e.g., a robot).

Filled in by some (but not all) laser data messages.

double PlayerCc::LaserProxy::MinLeft ( ) const [inline]

Deprecated:: Minimum range reading on the left side

double PlayerCc::LaserProxy::MinRight ( ) const [inline]

Deprecated:: Minimum range reading on the right side

double PlayerCc::LaserProxy::operator[] ( uint index ) const [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].

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

playerc++.h

Last updated 12 September 2005 21:38:45

PlayerCc::LaserProxy Class Reference [Proxies]

Detailed Description

Public Member Functions

Member Function Documentation

PlayerCc::LaserProxy Class Reference
[Proxies]