Detailed Description

The laser proxy provides an interface to scanning laser range finders such as the sicklms200. Data is returned in the playerc_laser_t structure.

This proxy wraps the low-level interface_laser interface.

Classes

struct  playerc_laser_t
 Laser proxy data. More...
 

Functions

PLAYERC_EXPORT playerc_laser_tplayerc_laser_create (playerc_client_t *client, int index)
 Create a laser proxy.
 
PLAYERC_EXPORT void playerc_laser_destroy (playerc_laser_t *device)
 Destroy a laser proxy.
 
PLAYERC_EXPORT int playerc_laser_subscribe (playerc_laser_t *device, int access)
 Subscribe to the laser device.
 
PLAYERC_EXPORT int playerc_laser_unsubscribe (playerc_laser_t *device)
 Un-subscribe from the laser device.
 
PLAYERC_EXPORT int playerc_laser_set_config (playerc_laser_t *device, double min_angle, double max_angle, double resolution, double range_res, unsigned char intensity, double scanning_frequency)
 Configure the laser.
 
PLAYERC_EXPORT int playerc_laser_get_config (playerc_laser_t *device, double *min_angle, double *max_angle, double *resolution, double *range_res, unsigned char *intensity, double *scanning_frequency)
 Get the laser configuration.
 
PLAYERC_EXPORT int playerc_laser_get_geom (playerc_laser_t *device)
 Get the laser geometry.
 
PLAYERC_EXPORT int playerc_laser_get_id (playerc_laser_t *device)
 Get the laser IDentification information.
 
PLAYERC_EXPORT void playerc_laser_printout (playerc_laser_t *device, const char *prefix)
 Print a human-readable summary of the laser state on stdout.
 

Function Documentation

◆ playerc_laser_get_config()

PLAYERC_EXPORT int playerc_laser_get_config ( playerc_laser_t * device,
double * min_angle,
double * max_angle,
double * resolution,
double * range_res,
unsigned char * intensity,
double * scanning_frequency )

Get the laser configuration.

Parameters
devicePointer to proxy object.
min_angle,max_angleStart and end angles for the scan (radians).
resolutionAngular resolution in radians. Valid values depend on the underlyling driver.
range_resRange resolution in m. Valid values depend on the underlyling driver.
intensityIntensity flag; set to 1 to enable reflection intensity data.
scanning_frequencyScanning frequency in Hz. Valid values depend on the underlyling driver.
Returns
Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message.

◆ playerc_laser_get_geom()

PLAYERC_EXPORT int playerc_laser_get_geom ( playerc_laser_t * device)

Get the laser geometry.

This writes the result into the proxy rather than returning it to the caller.

◆ playerc_laser_get_id()

PLAYERC_EXPORT int playerc_laser_get_id ( playerc_laser_t * device)

Get the laser IDentification information.

This writes the result into the proxy rather than returning it to the caller.

◆ playerc_laser_set_config()

PLAYERC_EXPORT int playerc_laser_set_config ( playerc_laser_t * device,
double min_angle,
double max_angle,
double resolution,
double range_res,
unsigned char intensity,
double scanning_frequency )

Configure the laser.

Parameters
devicePointer to proxy object.
min_angle,max_angleStart and end angles for the scan (radians).
resolutionAngular resolution in radians. Valid values depend on the underlyling driver.
range_resRange resolution in m. Valid values depend on the underlyling driver.
intensityIntensity flag; set to 1 to enable reflection intensity data.
scanning_frequencyScanning frequency in Hz. Valid values depend on the underlyling driver.
Returns
Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message.