Laser proxy data. More...

#include <playerc.h>

Public Attributes
playerc_device_t	info
	Device info; must be at the start of all device structures.
double	pose [3]
	Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent.
double	size [2]
double	robot_pose [3]
	Robot pose (m,m,rad), filled in if the scan came with a pose attached.
int	intensity_on
	Is intesity data returned.
int	scan_count
	Number of points in the scan.
double	scan_start
	Start bearing of the scan (radians).
double	scan_res
	Angular resolution in radians.
double	range_res
	Range resolution, in m.
double	max_range
	Maximum range of sensor, in m.
double	scanning_frequency
	Scanning frequency in Hz.
double *	ranges
	Raw range data; range (m).
double(*	scan )[2]
	Scan data; range (m) and bearing (radians).
player_point_2d_t *	point
	Scan data; x, y position (m).
int *	intensity
	Scan reflection intensity values (0-3).
int	scan_id
	ID for this scan.
int	laser_id
	Laser IDentification information.
double	min_right
	Minimum range, in meters, in the right half of the scan (those ranges from the first beam, counterclockwise, up to the middle of the scan, including the middle beam, if one exists).
double	min_left
	Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the middle of the scan, counterclockwise, to the last beam).

Detailed Description

Laser proxy data.

Member Data Documentation

playerc_device_t playerc_laser_t::info

Device info; must be at the start of all device structures.

int* playerc_laser_t::intensity

Scan reflection intensity values (0-3).

Note that the intensity values will only be filled if intensity information is enabled (using the set_config function).

int playerc_laser_t::intensity_on

Is intesity data returned.

double playerc_laser_t::max_range

Maximum range of sensor, in m.

double playerc_laser_t::min_left

Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the middle of the scan, counterclockwise, to the last beam).

double playerc_laser_t::min_right

Minimum range, in meters, in the right half of the scan (those ranges from the first beam, counterclockwise, up to the middle of the scan, including the middle beam, if one exists).

player_point_2d_t* playerc_laser_t::point

Scan data; x, y position (m).

double playerc_laser_t::pose[3]

Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent.

These values are filled in by playerc_laser_get_geom().

double playerc_laser_t::range_res

Range resolution, in m.

double* playerc_laser_t::ranges

Raw range data; range (m).

double(* playerc_laser_t::scan)[2]

Scan data; range (m) and bearing (radians).

int playerc_laser_t::scan_count