29#ifndef SENSOR_INFO_H__
30#define SENSOR_INFO_H__
33 typedef unsigned char uint8_t;
34 typedef unsigned int uint32_t;
35 #if defined(HOKUYOAIST_STATIC)
36 #define HOKUYOAIST_EXPORT
37 #elif defined(hokuyoaist_EXPORTS)
38 #define HOKUYOAIST_EXPORT __declspec(dllexport)
40 #define HOKUYOAIST_EXPORT __declspec(dllimport)
44 #define HOKUYOAIST_EXPORT
76 return "UBG-04LX-F01";
84 return "Unknown model";
91 if(strncmp(model,
"URG-04LX", 8) == 0)
93 else if(strncmp(model,
"UBG-04LX-F01", 8) == 0)
95 else if(strncmp(model,
"UHG-08LX", 8) == 0)
97 else if(strncmp(model,
"UTM-30LX", 8) == 0)
99 else if(strncmp(model,
"UXM-30LX-E", 8) == 0)
121 return "Counter-clockwise";
220 void calculate_values();
Hokuyo laser scanner class.
double max_angle
Maximum possible scan angle (radians).
unsigned short speed_level
Speed level (0 for default)
double resolution
Angle between two scan points (radians).
double min_angle
Minimum possible scan angle (radians).
std::string sensor_diagnostic
Diagnostic status string.
unsigned int speed
Current motor speed (rpm).
SensorInfo(SensorInfo const &rhs)
std::string serial
Serial number of this device.
SensorInfo & operator=(SensorInfo const &rhs)
Assignment operator.
std::string measure_state
Measurement state.
bool power
Operational status - illuminated or not.
LaserModel detected_model
Detected model of the laser.
double time_resolution
Time between two scan points (milliseconds).
unsigned int time
Current sensor time (s).
std::string product
Product name.
unsigned int front_step
Step number that points forward (typically the centre of a full scan).
unsigned int steps
Number of steps in a 360-degree scan.
unsigned int min_range
Minimum detectable range (mm).
unsigned int max_range
Maximum detectable range (mm).
std::string protocol
Protocol version in use.
std::string vendor
Vendor name.
unsigned int baud
Baud rate.
unsigned int scanable_steps
Total number of steps in a full scan (lastStep - firstStep).
std::string as_string()
Format the entire object into a string.
unsigned int first_step
First scanable step of a full scan.
std::string firmware
Firmware version.
std::string model
Sensor model number.
unsigned int max_step
Absolute maximum commandable step.
RotationDirection rot_dir
Rotation direction.
unsigned int standard_speed
Standard motor speed (rpm).
unsigned int last_step
Last scanable step of a full scan.
#define HOKUYOAIST_EXPORT
HOKUYOAIST_EXPORT char const * rot_dir_to_string(RotationDirection dir)
RotationDirection
Sensor direction of rotation.
HOKUYOAIST_EXPORT char const * model_to_string(LaserModel model)
HOKUYOAIST_EXPORT LaserModel string_to_model(char const *model)