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

Functions
PLAYERC_EXPORT playerc_laser_t *	playerc_laser_create (playerc_client_t *client, int index)
	Create a laser proxy. More...

PLAYERC_EXPORT void	playerc_laser_destroy (playerc_laser_t *device)
	Destroy a laser proxy. More...

PLAYERC_EXPORT int	playerc_laser_subscribe (playerc_laser_t *device, int access)
	Subscribe to the laser device. More...

PLAYERC_EXPORT int	playerc_laser_unsubscribe (playerc_laser_t *device)
	Un-subscribe from the laser device. More...

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. More...

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. More...

PLAYERC_EXPORT int	playerc_laser_get_geom (playerc_laser_t *device)
	Get the laser geometry. More...

PLAYERC_EXPORT int	playerc_laser_get_id (playerc_laser_t *device)
	Get the laser IDentification information. More...

PLAYERC_EXPORT void	playerc_laser_printout (playerc_laser_t device, const char prefix)
	Print a human-readable summary of the laser state on stdout. More...

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_EXPORT playerc_laser_t* playerc_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_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

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.
scanning_frequency	Scanning 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_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_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_EXPORT void playerc_laser_printout	(	playerc_laser_t *	device,
		const char *	prefix
	)

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

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

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.
scanning_frequency	Scanning 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_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.