ranger

The ranger proxy provides an interface to ranger sensor devices. More...

Detailed Description

The ranger proxy provides an interface to ranger sensor devices.

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. More...
PLAYERC_EXPORT void	playerc_ranger_destroy (playerc_ranger_t *device)
	Destroy a ranger proxy. More...
PLAYERC_EXPORT int	playerc_ranger_subscribe (playerc_ranger_t *device, int access)
	Subscribe to the ranger device. More...
PLAYERC_EXPORT int	playerc_ranger_unsubscribe (playerc_ranger_t *device)
	Un-subscribe from the ranger device. More...
PLAYERC_EXPORT int	playerc_ranger_get_geom (playerc_ranger_t *device)
	Get the ranger geometry. More...
PLAYERC_EXPORT int	playerc_ranger_power_config (playerc_ranger_t *device, uint8_t value)
	Turn device power on or off. More...
PLAYERC_EXPORT int	playerc_ranger_intns_config (playerc_ranger_t *device, uint8_t value)
	Turn intensity data on or off. More...
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. More...
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. More...

Function Documentation

playerc_ranger_create()

PLAYERC_EXPORT playerc_ranger_t* playerc_ranger_create	(	playerc_client_t *	client,
		int	index
	)

Create a ranger proxy.

playerc_ranger_destroy()

PLAYERC_EXPORT void playerc_ranger_destroy

(

playerc_ranger_t *

device

)

Destroy a ranger proxy.

playerc_ranger_get_config()

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

device	Pointer to ranger device.
min_angle	Start angle of scans [rad].
max_angle	End angle of scans [rad].
angular_res	Scan resolution [rad].
min_range	Minimum range [m].
max_range	Maximum range [m].
range_res	Range resolution [m].
frequency	Scanning frequency [Hz].

playerc_ranger_get_geom()

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_ranger_intns_config()

PLAYERC_EXPORT int playerc_ranger_intns_config	(	playerc_ranger_t *	device,
		uint8_t	value
	)

Turn intensity data on or off.

Parameters

device	Pointer to ranger device.
value	Set to TRUE to turn the data on, FALSE to turn the data off.

playerc_ranger_power_config()

PLAYERC_EXPORT int playerc_ranger_power_config	(	playerc_ranger_t *	device,
		uint8_t	value
	)

Turn device power on or off.

Parameters

device	Pointer to ranger device.
value	Set to TRUE to turn power on, FALSE to turn power off.

playerc_ranger_set_config()

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

device	Pointer to ranger device.
min_angle	Start angle of scans [rad].
max_angle	End angle of scans [rad].
angular_res	Scan resolution [rad].
min_range	Minimum range[m].
max_range	Maximum range [m].
range_res	Range resolution [m].
frequency	Scanning frequency [Hz].

playerc_ranger_subscribe()

PLAYERC_EXPORT int playerc_ranger_subscribe	(	playerc_ranger_t *	device,
		int	access
	)

Subscribe to the ranger device.

playerc_ranger_unsubscribe()

PLAYERC_EXPORT int playerc_ranger_unsubscribe

(

playerc_ranger_t *

device

)

Un-subscribe from the ranger device.