4.6 laser

Synopsis

The laser proxy provides an interface to a scanning laser range finder such as the SICK LMS200. See the Player User Manual for a complete description of this device.

Data

struct playerc_laser_t : Laser proxy data.

playerc_device_t info;

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

double pose[3];
double size[2];

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().

int scan_count;

Number of points in the scan.

double scan_res;

Angular resolution of the scan (radians).

int range_res;

Range resolution multiplier

double scan[PLAYERC_LASER_MAX_SAMPLES][2];

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

double point[PLAYERC_LASER_MAX_SAMPLES][2];

Scan data; x, y position (m).

int intensity[PLAYERC_LASER_MAX_SAMPLES];

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).

Methods

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, int resolution, int range_res, int intensity);

Configure the laser. min_angle, max_angle : Start and end angles for the scan. resolution : Resolution in 0.01 degree increments. Valid values are 25, 50, 100. range_res : Range resolution. Valid: 1, 10, 100. intensity : Intensity flag; set to 1 to enable reflection intensity data.

int playerc_laser_get_config(playerc_laser_t *device, double *min_angle, double *max_angle, int *resolution, int *range_res, int *intensity);

Get the laser configuration min_angle, max_angle : Start and end angles for the scan. resolution : Resolution is in 0.01 degree increments. range_res : Range Resolution. Valid: 1, 10, 100. intensity : Intensity flag; set to 1 to enable reflection intensity data.

int playerc_laser_get_geom(playerc_laser_t *device);

Get the laser geometry. The writes the result into the proxy rather than returning it to the caller.