vpSickLDMRS Class Reference

#include <vpSickLDMRS.h>

Inheritance diagram for vpSickLDMRS:

Public Types
enum	MagicWord { MagicWordC2 = 0xAFFEC0C2 }
enum	DataType { MeasuredData = 0x2202 }

Public Member Functions
	vpSickLDMRS ()
	vpSickLDMRS (const vpSickLDMRS &sick)
virtual	~vpSickLDMRS ()
bool	setup (std::string ip, int port)
bool	setup ()
bool	measure (vpLaserScan laserscan[4])
void	setIpAddress (std::string ip)
void	setPort (int port)

Protected Attributes
SOCKET	socket_fd
std::string	ip
int	port

Detailed Description

Driver for the Sick LD-MRS laser scanner.

Warning

For the moment, this driver works only on UNIX platform.

The code below shows how the four laser scan provided by the Sick LD-MRS could be acquired.

#include "visp/vpSickLDMRS.h"

int main()
{
#ifdef UNIX
  std::string ip = "131.254.12.119";

  vpSickLDMRS laser;
  laser.setIpAddress(ip);
  laser.setup();
    
  vpLaserScan laserscan[4];
  for ( ; ; ) {
    // Get the measured points in the four layers
    laser.measure(laserscan);

    // Prints all the measured points 
    for (int layer=0; layer<4; layer++) {
      std::vector<vpScanPoint> pointsInLayer = laserscan[layer].getScanPoints();
      vpScanPoint p;
    
      for (unsigned int i=0; i < pointsInLayer.size(); i++) {
    std::cout << pointsInLayer[i] << std::endl; 
      }
    }
  }
#endif
}

Examples:

SickLDMRS-Acq.cpp, and SickLDMRS-Process.cpp.

Definition at line 109 of file vpSickLDMRS.h.

Member Enumeration Documentation

enum vpSickLDMRS::DataType

Enumerator
MeasuredData	Flag to indicate that the body of a message contains measured data.

Definition at line 115 of file vpSickLDMRS.h.

enum vpSickLDMRS::MagicWord

Enumerator
MagicWordC2	The magic word that allows to identify the messages that are sent by the Sick LD-MRS.

Definition at line 112 of file vpSickLDMRS.h.

Constructor & Destructor Documentation

vpSickLDMRS::vpSickLDMRS

(

)

Default constructor that initialize the Ethernet address to "131.254.12.119", set the port to 12002 and allocates memory for the body messages.

Definition at line 73 of file vpSickLDMRS.cpp.

References vpLaserScanner::ip, vpLaserScanner::port, vpMath::rad(), and vpColVector::resize().

vpSickLDMRS::vpSickLDMRS ( const vpSickLDMRS &  sick )

inline

Copy constructor.

Definition at line 120 of file vpSickLDMRS.h.

References socket_fd.

vpSickLDMRS::~vpSickLDMRS ( )

virtual

Destructor that deallocate the memory for the body messages.

Definition at line 92 of file vpSickLDMRS.cpp.

Member Function Documentation

bool vpSickLDMRS::measure

(

vpLaserScan

laserscan[4]

)

Get the measures of the four scan layers.

Returns

true if the measures are retrieven, false otherwise.

Examples:

SickLDMRS-Acq.cpp, and SickLDMRS-Process.cpp.

Definition at line 167 of file vpSickLDMRS.cpp.

References vpLaserScan::addPoint(), vpLaserScan::clear(), MagicWordC2, MeasuredData, vpTime::measureTimeSecond(), vpLaserScan::setEndTimestamp(), vpLaserScan::setMeasurementId(), vpLaserScan::setNumPoints(), vpLaserScan::setNumSteps(), vpScanPoint::setPolar(), vpLaserScan::setStartAngle(), vpLaserScan::setStartTimestamp(), vpLaserScan::setStopAngle(), and socket_fd.

void vpLaserScanner::setIpAddress ( std::string  ip )

inlineinherited

Set the Ethernet address of the laser.

Examples:

SickLDMRS-Acq.cpp, and SickLDMRS-Process.cpp.

Definition at line 77 of file vpLaserScanner.h.

Referenced by setup().

void vpLaserScanner::setPort ( int  port )

inlineinherited

Set the communication port.

Definition at line 82 of file vpLaserScanner.h.

Referenced by setup().

bool vpSickLDMRS::setup	(	std::string	ip,
		int	port
	)

Initialize the connexion with the Sick LD-MRS laser scanner.

Parameters

ip	: Ethernet address of the laser.
port	: Ethernet port of the laser.

Returns

true if the device was initialized, false otherwise.

Examples:

SickLDMRS-Acq.cpp, and SickLDMRS-Process.cpp.

Definition at line 107 of file vpSickLDMRS.cpp.

References vpLaserScanner::setIpAddress(), vpLaserScanner::setPort(), and setup().

bool vpSickLDMRS::setup

(

)

Initialize the connexion with the Sick LD-MRS laser scanner.

Returns

true if the device was initialized, false otherwise.

Definition at line 119 of file vpSickLDMRS.cpp.

References vpLaserScanner::ip, vpLaserScanner::port, and socket_fd.

Referenced by setup().

Member Data Documentation

std::string vpLaserScanner::ip

protectedinherited

Definition at line 84 of file vpLaserScanner.h.

Referenced by setup(), vpLaserScanner::vpLaserScanner(), and vpSickLDMRS().

int vpLaserScanner::port

protectedinherited

Definition at line 88 of file vpLaserScanner.h.

Referenced by setup(), vpLaserScanner::vpLaserScanner(), and vpSickLDMRS().

SOCKET vpSickLDMRS::socket_fd

protected

Definition at line 131 of file vpSickLDMRS.h.

Referenced by measure(), setup(), and vpSickLDMRS().