PlayerCc::LaserProxy Class Reference
[Proxies]
#include <playerc++.h>
Inherits PlayerCc::ClientProxy.
Detailed Description
TheLaserProxy
class is used to control a 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.
Public Member Functions | |
LaserProxy (PlayerClient *aPc, uint aIndex=0) | |
constructor | |
~LaserProxy () | |
destructor | |
uint | GetCount () const |
Number of points in scan. | |
double | GetMaxRange () const |
Max range for the latest set of data (meters). | |
double | GetScanRes () const |
Angular resolution of scan (radians). | |
double | GetRangeRes () const |
Range resolution of scan (mm). | |
double | GetMinAngle () const |
Scan range for the latest set of data (radians). | |
double | GetMaxAngle () const |
Scan range for the latest set of data (radians). | |
bool | IntensityOn () const |
Whether or not reflectance (i.e., intensity) values are being returned. | |
player_point_2d_t | GetPoint (uint aIndex) const |
Scan data (Cartesian): x,y (m). | |
double | GetRange (uint aIndex) const |
get the range | |
double | GetBearing (uint aIndex) const |
get the bearing | |
int | GetIntensity (uint aIndex) const |
get the intensity | |
void | Configure (double aMinAngle, double aMaxAngle, uint aScanRes, uint aRangeRes, bool aIntensity) |
Configure the laser scan pattern. | |
void | RequestConfigure () |
Get the current laser configuration; it is read into the relevant class attributes. | |
void | RequestGeom () |
Get the laser's geometry; it is read into the relevant class attributes. | |
player_pose_t | GetPose () |
Accessor for the pose of the laser with respect to its parent object (e.g., a robot). | |
player_pose_t | GetRobotPose () |
Accessor for the pose of the laser's parent object (e.g., a robot). | |
player_bbox_t | GetSize () |
Accessor for the size (fill it in by calling RequestGeom). | |
double | MinLeft () |
Min left. | |
double | MinRight () |
Min right. | |
double | operator[] (uint index) const |
Range access operator. |
Member Function Documentation
void PlayerCc::LaserProxy::Configure | ( | double | aMinAngle, | |
double | aMaxAngle, | |||
uint | aScanRes, | |||
uint | aRangeRes, | |||
bool | aIntensity | |||
) |
Configure the laser scan pattern.
Angles min_angle
and max_angle
are measured in radians. scan_res
is measured in units of 0.01 degrees; valid values are: 25 (0.25 deg), 50 (0.5 deg) and 100 (1 deg). range_res
is measured in mm; valid values are: 1, 10, 100. Set intensity
to true
to enable intensity measurements, or false
to disable.
void PlayerCc::LaserProxy::RequestConfigure | ( | ) |
Get the current laser configuration; it is read into the relevant class attributes.
void PlayerCc::LaserProxy::RequestGeom | ( | ) |
Get the laser's geometry; it is read into the relevant class attributes.
player_pose_t PlayerCc::LaserProxy::GetPose | ( | ) | [inline] |
Accessor for the pose of the laser with respect to its parent object (e.g., a robot).
Fill it in by calling RequestGeom.
player_pose_t PlayerCc::LaserProxy::GetRobotPose | ( | ) | [inline] |
Accessor for the pose of the laser's parent object (e.g., a robot).
Filled in by some (but not all) laser data messages.
double PlayerCc::LaserProxy::operator[] | ( | uint | index | ) | const [inline] |
Range access operator.
This operator provides an alternate way of access the range data. For example, given an LaserProxy
named lp
, the following expressions are equivalent: lp.ranges
[0], lp.Ranges(0)
, and lp
[0].
The documentation for this class was generated from the following file: