ViSP
2.6.2
|
#include <vpSickLDMRS.h>
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 |
Driver for the Sick LD-MRS laser scanner.
The code below shows how the four laser scan provided by the Sick LD-MRS could be acquired.
Definition at line 109 of file vpSickLDMRS.h.
Enumerator | |
---|---|
MeasuredData |
Flag to indicate that the body of a message contains measured data. |
Definition at line 115 of file vpSickLDMRS.h.
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.
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().
|
inline |
|
virtual |
Destructor that deallocate the memory for the body messages.
Definition at line 92 of file vpSickLDMRS.cpp.
bool vpSickLDMRS::measure | ( | vpLaserScan | laserscan[4] | ) |
Get the measures of the four scan layers.
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.
|
inlineinherited |
Set the Ethernet address of the laser.
Definition at line 77 of file vpLaserScanner.h.
Referenced by setup().
|
inlineinherited |
bool vpSickLDMRS::setup | ( | std::string | ip, |
int | port | ||
) |
Initialize the connexion with the Sick LD-MRS laser scanner.
ip | : Ethernet address of the laser. |
port | : Ethernet port of the laser. |
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.
Definition at line 119 of file vpSickLDMRS.cpp.
References vpLaserScanner::ip, vpLaserScanner::port, and socket_fd.
Referenced by setup().
|
protectedinherited |
Definition at line 84 of file vpLaserScanner.h.
Referenced by setup(), vpLaserScanner::vpLaserScanner(), and vpSickLDMRS().
|
protectedinherited |
Definition at line 88 of file vpLaserScanner.h.
Referenced by setup(), vpLaserScanner::vpLaserScanner(), and vpSickLDMRS().
|
protected |
Definition at line 131 of file vpSickLDMRS.h.
Referenced by measure(), setup(), and vpSickLDMRS().