ViSP  2.8.0
SickLDMRS-Acq.cpp
1 /****************************************************************************
2  *
3  * $Id: SickLDMRS-Acq.cpp 4056 2013-01-05 13:04:42Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Sick LD-MRS laser driver.
36  *
37  * Authors:
38  * Fabien Spindler
39  *
40  *****************************************************************************/
41 
42 
53 #include <visp/vpDebug.h>
54 #include <visp/vpSickLDMRS.h>
55 #include <visp/vpParseArgv.h>
56 
57 
58 #if ( defined(UNIX) && ( ! defined(WIN32) ) )
59 
60 int main()
61 {
62  vpSickLDMRS laser;
63  std::string ip = "131.254.12.119";
64 
65  laser.setIpAddress(ip);
66  laser.setup();
67  unsigned long int iter = 0;
68 
69  for ( ; ; ) {
70  double t1 = vpTime::measureTimeMs();
71  vpLaserScan laserscan[4];
72  if (laser.measure(laserscan) == false)
73  continue;
74 
75  iter ++;
76  std::cout << "iter: " << iter << " time: "
77  << vpTime::measureTimeMs() - t1 << " ms" << std::endl;
78  }
79  return 0;
80 }
81 
82 #else // #ifdef UNIX
83 
84 int main()
85 {
86  std::cout << "This example is only working on UNIX platforms \n"
87  << "since the Sick LD-MRS driver was not ported to Windows."
88  << std::endl;
89 
90  return 0;
91 }
92 #endif // #ifdef UNIX
static double measureTimeMs()
Definition: vpTime.cpp:86
Implements a laser scan data structure that contains especially the list of scanned points that have ...
Definition: vpLaserScan.h:66