Visual Servoing Platform  version 3.2.0 under development (2018-08-16)
SickLDMRS-Acq.cpp

Example that shows how to acquire Sick LD-MRS laser measurements.

Warning
For the moment, this example is only working on UNIX platforms since the Sick LD-MRS driver was not ported to Windows.
/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Sick LD-MRS laser driver.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/sensor/vpSickLDMRS.h>
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
int main()
{
try {
vpSickLDMRS laser;
std::string ip = "131.254.12.119";
laser.setIpAddress(ip);
laser.setup();
unsigned long int iter = 0;
for (;;) {
double t1 = vpTime::measureTimeMs();
vpLaserScan laserscan[4];
if (laser.measure(laserscan) == false)
continue;
iter++;
std::cout << "iter: " << iter << " time: " << vpTime::measureTimeMs() - t1 << " ms" << std::endl;
}
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else // #ifdef UNIX
int main()
{
std::cout << "This example is only working on unix-like platforms \n"
<< "since the Sick LD-MRS driver was not ported to Windows." << std::endl;
return EXIT_SUCCESS;
}
#endif // #ifdef UNIX