URG sensor control. More...

#include <UrgCtrl.h>

Inheritance diagram for qrk::UrgCtrl:

Public Types
enum	{ DefaultBaudrate = 115200, DefaultRetryTimes = 8, Infinity = 0, Off = 0, On = 1 }
Public Member Functions
const char *	what (void) const
	Returns internal status.
bool	connect (const char *device, long baudrate=DefaultBaudrate)
	Connection.
void	setConnection (Connection *con)
	Specifies the connection object.
Connection *	connection (void)
	Get connection object.
void	disconnect (void)
	Disconnect.
bool	isConnected (void) const
	Returns connection status.
long	minDistance (void) const
	Get valid minimum distance.
long	maxDistance (void) const
	Get valid maximum distance.
int	maxScanLines (void) const
	Get Max scan index.
void	setRetryTimes (size_t times)
void	setCapturesSize (size_t size)
int	scanMsec (void) const
void	setCaptureMode (RangeCaptureMode mode)
RangeCaptureMode	captureMode (void)
void	setCaptureRange (int begin_index, int end_index)
void	setCaptureFrameInterval (size_t interval)
void	setCaptureTimes (size_t times)
size_t	remainCaptureTimes (void)
void	setCaptureSkipLines (size_t skip_lines)
int	capture (std::vector< long > &data, long *timestamp=NULL)
	Get data.
int	captureWithIntensity (std::vector< long > &data, std::vector< long > &intensity_data, long *timestamp=NULL)
void	stop (void)
bool	setTimestamp (int timestamp=0, int response_msec=NULL, int force_delay_msec=NULL)
	Sets the timestamp value. Sensor returs this timestamp value.
long	recentTimestamp (void) const
	Latest time stamp value.
bool	setLaserOutput (bool on)
double	index2rad (const int index) const
	Radian to angle conversion of data index.
int	rad2index (const double radian) const
	radian Convert angle in radian to data index
void	setParameter (const RangeSensorParameter &parameter)
	Update URG parameter.
RangeSensorParameter	parameter (void) const
	Get URG parameter.
bool	loadParameter (void)
bool	versionLines (std::vector< std::string > &lines)
bool	reboot (void)
bool	reset (void)
Protected Member Functions
virtual void	captureReceived (void)

Detailed Description

URG sensor control.

use UrgCtrl

Definition at line 27 of file UrgCtrl.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

DefaultBaudrate	[bps]
Off	Laser is off.
On	Laser is on.

Definition at line 31 of file UrgCtrl.h.

Member Function Documentation

const char * UrgCtrl::what ( void ) const [virtual]

Returns internal status.

  \return String that represent internal status

  <strong>Example</strong>
  <strong>Example</strong>

UrgCtrl sensor;
if (! sensor.connect(device, baudrate)) {
  // Displays error message when connection is failed.
  printf("connect: %s\n", sensor.what());
  exit(1);
}

Implements qrk::RangeSensor.

Definition at line 39 of file UrgCtrl.cpp.

bool UrgCtrl::connect	(	const char *	device,
		long	baudrate = `DefaultBaudrate`
	)		`[virtual]`

Connection.

  \param[in] device Connected device name
  \param[in] baudrate Baudrate

  \retval true Success
  \retval false Failure

  <strong>Example</strong>
  <strong>Example</strong>

const char device[] = "/dev/ttyACM0";
const long baudrate = 115200;
UrgCtrl sensor;

// Connect to specified device
if (! sensor.connect(device, baudrate)) {
  printf("connect: %s\n", sensor.what());
  exit(1);
}

Implements qrk::RangeSensor.

Definition at line 45 of file UrgCtrl.cpp.

void UrgCtrl::setConnection ( Connection * con ) [virtual]

Specifies the connection object.

Parameters:

[in] con Connection object

Implements qrk::RangeSensor.

Definition at line 51 of file UrgCtrl.cpp.

Connection * UrgCtrl::connection ( void ) [virtual]

Get connection object.