Visual Servoing Platform  version 3.4.0
SickLDMRS-Acq.cpp
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Sick LD-MRS laser driver.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
49 #include <visp3/core/vpDebug.h>
50 #include <visp3/io/vpParseArgv.h>
51 #include <visp3/sensor/vpSickLDMRS.h>
52 
53 #if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
54 
55 int main()
56 {
57  try {
58  vpSickLDMRS laser;
59  std::string ip = "131.254.12.119";
60 
61  laser.setIpAddress(ip);
62  laser.setup();
63  unsigned long int iter = 0;
64 
65  for (;;) {
66  double t1 = vpTime::measureTimeMs();
67  vpLaserScan laserscan[4];
68  if (laser.measure(laserscan) == false)
69  continue;
70 
71  iter++;
72  std::cout << "iter: " << iter << " time: " << vpTime::measureTimeMs() - t1 << " ms" << std::endl;
73  }
74  return EXIT_SUCCESS;
75  } catch (const vpException &e) {
76  std::cout << "Catch an exception: " << e << std::endl;
77  return EXIT_FAILURE;
78  }
79 }
80 
81 #else // #ifdef UNIX
82 int main()
83 {
84  std::cout << "This example is only working on unix-like platforms \n"
85  << "since the Sick LD-MRS driver was not ported to Windows." << std::endl;
86 
87  return EXIT_SUCCESS;
88 }
89 #endif // #ifdef UNIX
error that can be emited by ViSP classes.
Definition: vpException.h:71
VISP_EXPORT double measureTimeMs()
Definition: vpTime.cpp:126
Implements a laser scan data structure that contains especially the list of scanned points that have ...
Definition: vpLaserScan.h:64
bool setup(const std::string &ip, int port)
Driver for the Sick LD-MRS laser scanner.
Definition: vpSickLDMRS.h:107
bool measure(vpLaserScan laserscan[4])
void setIpAddress(std::string ip_address)