The laser proxy provides an interface to scanning laser range finders such as the sicklms200. More...
Classes | |
| struct | playerc_laser_t |
| Laser proxy data. More... | |
Functions | |
| PLAYERC_EXPORT playerc_laser_t * | playerc_laser_create (playerc_client_t *client, int index) |
| Create a laser proxy. | |
| PLAYERC_EXPORT void | playerc_laser_destroy (playerc_laser_t *device) |
| Destroy a laser proxy. | |
| PLAYERC_EXPORT int | playerc_laser_subscribe (playerc_laser_t *device, int access) |
| Subscribe to the laser device. | |
| PLAYERC_EXPORT int | playerc_laser_unsubscribe (playerc_laser_t *device) |
| Un-subscribe from the laser device. | |
| PLAYERC_EXPORT int | playerc_laser_set_config (playerc_laser_t *device, double min_angle, double max_angle, double resolution, double range_res, unsigned char intensity, double scanning_frequency) |
| Configure the laser. | |
| PLAYERC_EXPORT int | playerc_laser_get_config (playerc_laser_t *device, double *min_angle, double *max_angle, double *resolution, double *range_res, unsigned char *intensity, double *scanning_frequency) |
| Get the laser configuration. | |
| PLAYERC_EXPORT int | playerc_laser_get_geom (playerc_laser_t *device) |
| Get the laser geometry. | |
| PLAYERC_EXPORT int | playerc_laser_get_id (playerc_laser_t *device) |
| Get the laser IDentification information. | |
| PLAYERC_EXPORT void | playerc_laser_printout (playerc_laser_t *device, const char *prefix) |
| Print a human-readable summary of the laser state on stdout. | |
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.
Function Documentation
| PLAYERC_EXPORT playerc_laser_t* playerc_laser_create | ( | playerc_client_t * | client, |
| int | index | ||
| ) |
Create a laser proxy.
| PLAYERC_EXPORT void playerc_laser_destroy | ( | playerc_laser_t * | device | ) |
Destroy a laser proxy.
| PLAYERC_EXPORT int playerc_laser_get_config | ( | playerc_laser_t * | device, |
| double * | min_angle, | ||
| double * | max_angle, | ||
| double * | resolution, | ||
| double * | range_res, | ||
| unsigned char * | intensity, | ||
| double * | scanning_frequency | ||
| ) |
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. scanning_frequency Scanning frequency in Hz. Valid values depend on the underlyling driver.
- Returns:
- Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message.
| PLAYERC_EXPORT 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.
| PLAYERC_EXPORT int playerc_laser_get_id | ( | playerc_laser_t * | device | ) |
Get the laser IDentification information.
This writes the result into the proxy rather than returning it to the caller.
| PLAYERC_EXPORT void playerc_laser_printout | ( | playerc_laser_t * | device, |
| const char * | prefix | ||
| ) |
Print a human-readable summary of the laser state on stdout.
| PLAYERC_EXPORT int playerc_laser_set_config | ( | playerc_laser_t * | device, |
| double | min_angle, | ||
| double | max_angle, | ||
| double | resolution, | ||
| double | range_res, | ||
| unsigned char | intensity, | ||
| double | scanning_frequency | ||
| ) |
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. scanning_frequency Scanning frequency in Hz. Valid values depend on the underlyling driver.
- Returns:
- Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message.
| PLAYERC_EXPORT int playerc_laser_subscribe | ( | playerc_laser_t * | device, |
| int | access | ||
| ) |
Subscribe to the laser device.
| PLAYERC_EXPORT int playerc_laser_unsubscribe | ( | playerc_laser_t * | device | ) |
Un-subscribe from the laser device.