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 ()
vpSickLDMRS &	operator= (const vpSickLDMRS &sick)
bool	setup (const std::string &ip, int port)
bool	setup ()
bool	measure (vpLaserScan laserscan[4])
void	setIpAddress (std::string ip_address)
void	setPort (int com_port)

Protected Attributes
int	socket_fd
unsigned char *	body
vpColVector	vAngle
double	time_offset
bool	isFirstMeasure
size_t	maxlen_body
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 "visp3/sensor/vpSickLDMRS.h"

int main()
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) ||
(defined(__APPLE__) && defined(__MACH__))) // 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 107 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 114 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 110 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 71 of file vpSickLDMRS.cpp.

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

vpSickLDMRS::vpSickLDMRS ( const vpSickLDMRS &  sick )

inline

Copy constructor.

Definition at line 120 of file vpSickLDMRS.h.

vpSickLDMRS::~vpSickLDMRS ( )

virtual

Destructor that deallocate the memory for the body messages.

Definition at line 88 of file vpSickLDMRS.cpp.

References body.

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 162 of file vpSickLDMRS.cpp.

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

vpSickLDMRS& vpSickLDMRS::operator= ( const vpSickLDMRS &  sick )

inline

Copy constructor.

Definition at line 128 of file vpSickLDMRS.h.

References body, isFirstMeasure, maxlen_body, socket_fd, time_offset, and vAngle.

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

inlineinherited

Set the Ethernet address of the laser.

Examples:

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

Definition at line 69 of file vpLaserScanner.h.

Referenced by setup().

void vpLaserScanner::setPort ( int  com_port )

inlineinherited

Set the communication port.

Definition at line 72 of file vpLaserScanner.h.

Referenced by setup().

bool vpSickLDMRS::setup	(	const std::string &	ip_address,
		int	com_port
	)

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

Parameters

ip_address	: Ethernet address of the laser.
com_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 103 of file vpSickLDMRS.cpp.

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

bool vpSickLDMRS::setup

(

)

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

Returns

true if the device was initialized, false otherwise.

Definition at line 115 of file vpSickLDMRS.cpp.

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

Referenced by setup().

Member Data Documentation

unsigned char* vpSickLDMRS::body

protected

Definition at line 154 of file vpSickLDMRS.h.

Referenced by measure(), operator=(), vpSickLDMRS(), and ~vpSickLDMRS().

std::string vpLaserScanner::ip

protectedinherited

Definition at line 72 of file vpLaserScanner.h.

Referenced by setup(), and vpSickLDMRS().

bool vpSickLDMRS::isFirstMeasure

protected

Definition at line 157 of file vpSickLDMRS.h.

Referenced by measure(), and operator=().

size_t vpSickLDMRS::maxlen_body

protected

Definition at line 158 of file vpSickLDMRS.h.

Referenced by operator=(), and vpSickLDMRS().

int vpLaserScanner::port

protectedinherited

Definition at line 76 of file vpLaserScanner.h.

Referenced by setup(), and vpSickLDMRS().

int vpSickLDMRS::socket_fd

protected

Definition at line 152 of file vpSickLDMRS.h.

Referenced by measure(), operator=(), and setup().

double vpSickLDMRS::time_offset

protected

Definition at line 156 of file vpSickLDMRS.h.

Referenced by measure(), and operator=().

vpColVector vpSickLDMRS::vAngle

protected

Definition at line 155 of file vpSickLDMRS.h.

Referenced by measure(), operator=(), and vpSickLDMRS().