The LaserProxy
class is used to control a interface_laser device.
The latest scan data is held in two arrays: ranges
and intensity
. The laser scan range, resolution and so on can be configured using the Configure() method.
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| LaserProxy (PlayerClient *aPc, uint32_t aIndex=0) |
| Constructor.
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| ~LaserProxy () |
| Destructor.
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uint32_t | GetCount () const |
| Number of points in scan.
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double | GetMaxRange () const |
| Max range for the latest set of data (meters)
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double | GetScanRes () const |
| Angular resolution of scan (radians)
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double | GetRangeRes () const |
| Range resolution of scan (mm)
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double | GetScanningFrequency () const |
| Scanning Frequency (Hz)
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double | GetMinAngle () const |
| Scan range for the latest set of data (radians)
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double | GetMaxAngle () const |
| Scan range for the latest set of data (radians)
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double | GetConfMinAngle () const |
| Scan range from the laser config (call RequestConfigure first) (radians)
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double | GetConfMaxAngle () const |
| Scan range from the laser config (call RequestConfigure first) (radians)
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bool | IntensityOn () const |
| Whether or not reflectance (i.e., intensity) values are being returned.
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player_point_2d_t | GetPoint (uint32_t aIndex) const |
| Scan data (Cartesian): x,y (m)
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double | GetRange (uint32_t aIndex) const |
| get the range
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double | GetBearing (uint32_t aIndex) const |
| get the bearing
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int | GetIntensity (uint32_t aIndex) const |
| get the intensity
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int | GetID () const |
| get the laser ID, call RequestId first
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void | Configure (double aMinAngle, double aMaxAngle, uint32_t aScanRes, uint32_t aRangeRes, bool aIntensity, double aScanningFrequency) |
| Configure the laser scan pattern.
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void | RequestConfigure () |
| Request the current laser configuration; it is read into the relevant class attributes.
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void | RequestID () |
| Request the ID of the laser; read it with GetID()
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void | RequestGeom () |
| Get the laser's geometry; it is read into the relevant class attributes.
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player_pose3d_t | GetPose () |
| Accessor for the pose of the laser with respect to its parent object (e.g., a robot).
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player_pose3d_t | GetRobotPose () |
| Accessor for the pose of the laser's parent object (e.g., a robot).
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player_bbox3d_t | GetSize () |
| Accessor for the size (fill it in by calling RequestGeom)
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double | GetMinLeft () const |
| Minimum range reading on the left side.
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double | GetMinRight () const |
| Minimum range reading on the right side.
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double | MinLeft () const |
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double | MinRight () const |
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double | operator[] (uint32_t index) const |
| Range access operator.
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bool | IsValid () const |
| Proxy has any information.
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bool | IsFresh () const |
| Check for fresh data.
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void | NotFresh () |
| Reset Fresh flag.
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std::string | GetDriverName () const |
| Get the underlying driver's name.
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double | GetDataTime () const |
| Returns the received timestamp of the last data sample [s].
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double | GetElapsedTime () const |
| Returns the time between the current data time and the time of the last data sample [s].
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PlayerClient * | GetPlayerClient () const |
| Get a pointer to the Player Client.
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uint32_t | GetIndex () const |
| Get device index.
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uint32_t | GetInterface () const |
| Get Interface Code.
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std::string | GetInterfaceStr () const |
| Get Interface Name.
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void | SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1) |
| Set a replace rule for this proxy on the server.
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int | HasCapability (uint32_t aType, uint32_t aSubtype) |
| Request capabilities of device.
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int | GetBoolProp (char *aProperty, bool *aValue) |
| Request a boolean property.
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int | SetBoolProp (char *aProperty, bool aValue) |
| Set a boolean property.
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int | GetIntProp (char *aProperty, int32_t *aValue) |
| Request an integer property.
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int | SetIntProp (char *aProperty, int32_t aValue) |
| Set an integer property.
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int | GetDblProp (char *aProperty, double *aValue) |
| Request a double property.
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int | SetDblProp (char *aProperty, double aValue) |
| Set a double property.
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int | GetStrProp (char *aProperty, char **aValue) |
| Request a string property.
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int | SetStrProp (char *aProperty, char *aValue) |
| Set a string property.
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template<typename T > |
connection_t | ConnectReadSignal (T aSubscriber) |
| Connect a read signal to this proxy.
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void | DisconnectReadSignal (connection_t aSubscriber) |
| Disconnect a signal from this proxy.
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