The ranger proxy provides an interface to ranger sensor devices. More...
Classes | |
| struct | playerc_ranger_t |
| Ranger proxy data. More... | |
Functions | |
| PLAYERC_EXPORT playerc_ranger_t * | playerc_ranger_create (playerc_client_t *client, int index) |
| Create a ranger proxy. | |
| PLAYERC_EXPORT void | playerc_ranger_destroy (playerc_ranger_t *device) |
| Destroy a ranger proxy. | |
| PLAYERC_EXPORT int | playerc_ranger_subscribe (playerc_ranger_t *device, int access) |
| Subscribe to the ranger device. | |
| PLAYERC_EXPORT int | playerc_ranger_unsubscribe (playerc_ranger_t *device) |
| Un-subscribe from the ranger device. | |
| PLAYERC_EXPORT int | playerc_ranger_get_geom (playerc_ranger_t *device) |
| Get the ranger geometry. | |
| PLAYERC_EXPORT int | playerc_ranger_power_config (playerc_ranger_t *device, uint8_t value) |
| Turn device power on or off. | |
| PLAYERC_EXPORT int | playerc_ranger_intns_config (playerc_ranger_t *device, uint8_t value) |
| Turn intensity data on or off. | |
| PLAYERC_EXPORT int | playerc_ranger_set_config (playerc_ranger_t *device, double min_angle, double max_angle, double angular_res, double min_range, double max_range, double range_res, double frequency) |
| Set the ranger device's configuration. | |
| PLAYERC_EXPORT int | playerc_ranger_get_config (playerc_ranger_t *device, double *min_angle, double *max_angle, double *angular_res, double *min_range, double *max_range, double *range_res, double *frequency) |
| Get the ranger device's configuration. | |
Detailed Description
The ranger proxy provides an interface to ranger sensor devices.
Function Documentation
| PLAYERC_EXPORT playerc_ranger_t* playerc_ranger_create | ( | playerc_client_t * | client, |
| int | index | ||
| ) |
Create a ranger proxy.
| PLAYERC_EXPORT void playerc_ranger_destroy | ( | playerc_ranger_t * | device | ) |
Destroy a ranger proxy.
| PLAYERC_EXPORT int playerc_ranger_get_config | ( | playerc_ranger_t * | device, |
| double * | min_angle, | ||
| double * | max_angle, | ||
| double * | angular_res, | ||
| double * | min_range, | ||
| double * | max_range, | ||
| double * | range_res, | ||
| double * | frequency | ||
| ) |
Get the ranger device's configuration.
Not all values may be filled.
- Parameters:
-
min_angle Start angle of scans [rad]. max_angle End angle of scans [rad]. resolution Scan resolution [rad]. max_range Maximum range [m]. range_res Range resolution [m]. frequency Scanning frequency [Hz].
| PLAYERC_EXPORT int playerc_ranger_get_geom | ( | playerc_ranger_t * | device | ) |
Get the ranger geometry.
This writes the result into the proxy rather than returning it to the caller.
| PLAYERC_EXPORT int playerc_ranger_intns_config | ( | playerc_ranger_t * | device, |
| uint8_t | value | ||
| ) |
Turn intensity data on or off.
- Parameters:
-
value Set to TRUE to turn the data on, FALSE to turn the data off.
| PLAYERC_EXPORT int playerc_ranger_power_config | ( | playerc_ranger_t * | device, |
| uint8_t | value | ||
| ) |
Turn device power on or off.
- Parameters:
-
value Set to TRUE to turn power on, FALSE to turn power off.
| PLAYERC_EXPORT int playerc_ranger_set_config | ( | playerc_ranger_t * | device, |
| double | min_angle, | ||
| double | max_angle, | ||
| double | angular_res, | ||
| double | min_range, | ||
| double | max_range, | ||
| double | range_res, | ||
| double | frequency | ||
| ) |
Set the ranger device's configuration.
Not all values may be used.
- Parameters:
-
min_angle Start angle of scans [rad]. max_angle End angle of scans [rad]. resolution Scan resolution [rad]. max_range Maximum range [m]. range_res Range resolution [m]. frequency Scanning frequency [Hz].
| PLAYERC_EXPORT int playerc_ranger_subscribe | ( | playerc_ranger_t * | device, |
| int | access | ||
| ) |
Subscribe to the ranger device.
| PLAYERC_EXPORT int playerc_ranger_unsubscribe | ( | playerc_ranger_t * | device | ) |
Un-subscribe from the ranger device.