laser
[Device proxies]

The laser proxy provides an interface to scanning laser range finders such as the sicklms200. More...


Classes

struct  playerc_laser_t
 Laser proxy data. More...

Functions

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

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 laser interface.


Function Documentation

playerc_laser_t* playerc_laser_create ( playerc_client_t client,
int  index 
)

Create a laser proxy.

void playerc_laser_destroy ( playerc_laser_t device  ) 

Destroy a laser proxy.

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

Get the laser configuration.

Parameters:
device Pointer to proxy object.
min_angle,max_angle Start and end angles for the scan (radians).
resolution Angular resolution in radians. Valid values depend on the underlyling driver.
range_res Range resolution in m. Valid values depend on the underlyling driver.
intensity Intensity flag; set to 1 to enable reflection intensity data.
Returns:
Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message.

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.

void playerc_laser_printout ( playerc_laser_t device,
const char *  prefix 
)

Print a human-readable summary of the laser state on stdout.

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

Configure the laser.

Parameters:
device Pointer to proxy object.
min_angle,max_angle Start and end angles for the scan (radians).
resolution Angular resolution in radians. Valid values depend on the underlyling driver.
range_res Range resolution in m. Valid values depend on the underlyling driver.
intensity Intensity flag; set to 1 to enable reflection intensity data.
Returns:
Returns 0 on success, non-zero otherwise. Use playerc_error_str() to get a descriptive error message.

int playerc_laser_subscribe ( playerc_laser_t device,
int  access 
)

Subscribe to the laser device.

int playerc_laser_unsubscribe ( playerc_laser_t device  ) 

Un-subscribe from the laser device.


Last updated 12 September 2005 21:38:45