laser
[Device 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.
int playerc_laser_set_config (playerc_laser_t *device, double min_angle, double max_angle, double resolution, double range_res, unsigned char intensity)
 Configure the laser.
int playerc_laser_get_config (playerc_laser_t *device, double *min_angle, double *max_angle, double *resolution, double *range_res, unsigned char *intensity)
 Get the laser configuration.
int playerc_laser_get_geom (playerc_laser_t *device)
 Get the laser geometry.
void playerc_laser_printout (playerc_laser_t *device, const char *prefix)
 Print a human-readable summary of the laser state on stdout.

Function Documentation

int playerc_laser_get_config (  playerc_laser_t *  device,
double *  min_angle,
double *  max_angle,
double *  resolution,
double *  range_res,
unsigned char *  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 radians. Valid values depend on the underlyling driver.
range_res Range resolution in m. Valid values depend on the underlyling driver.
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.

int playerc_laser_set_config (  playerc_laser_t *  device,
double  min_angle,
double  max_angle,
double  resolution,
double  range_res,
unsigned char  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 radians. Valid values depend on the underlyling driver.
range_res Range resolution in m. Valid values depend on the underlyling driver.
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.
Last updated 12 September 2005 21:38:45