SickLDMRS

class SickLDMRS(*args, **kwargs)

Bases: LaserScanner

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"

#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif

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
}

Overloaded function.

  1. __init__(self: visp._visp.sensor.SickLDMRS) -> None

Default constructor that initialize the Ethernet address to “131.254.12.119”, set the port to 12002 and allocates memory for the body messages.

  1. __init__(self: visp._visp.sensor.SickLDMRS, sick: visp._visp.sensor.SickLDMRS) -> None

Copy constructor.

Methods

__init__

Overloaded function.

setup

Overloaded function.

Inherited Methods

setPort

Set the communication port.

setIpAddress

Set the Ethernet address of the laser.

Operators

__doc__

__init__

Overloaded function.

__module__

Attributes

MagicWordC2

MeasuredData

__annotations__

class DataType(self, value: int)

Bases: pybind11_object

Values:

  • MeasuredData: Flag to indicate that the body of a message contains measured data.

__and__(self, other: object) → object
__eq__(self, other: object) → bool
__ge__(self, other: object) → bool
__getstate__(self) → int
__gt__(self, other: object) → bool
__hash__(self) → int
__index__(self) → int
__init__(self, value: int)
__int__(self) → int
__invert__(self) → object
__le__(self, other: object) → bool
__lt__(self, other: object) → bool
__ne__(self, other: object) → bool
__or__(self, other: object) → object
__rand__(self, other: object) → object
__ror__(self, other: object) → object
__rxor__(self, other: object) → object
__setstate__(self, state: int) → None
__xor__(self, other: object) → object
property name : str
class MagicWord(self, value: int)

Bases: pybind11_object

Values:

  • MeasuredData: Flag to indicate that the body of a message contains measured data.

__and__(self, other: object) → object
__eq__(self, other: object) → bool
__ge__(self, other: object) → bool
__getstate__(self) → int
__gt__(self, other: object) → bool
__hash__(self) → int
__index__(self) → int
__init__(self, value: int)
__int__(self) → int
__invert__(self) → object
__le__(self, other: object) → bool
__lt__(self, other: object) → bool
__ne__(self, other: object) → bool
__or__(self, other: object) → object
__rand__(self, other: object) → object
__ror__(self, other: object) → object
__rxor__(self, other: object) → object
__setstate__(self, state: int) → None
__xor__(self, other: object) → object
property name : str
__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: visp._visp.sensor.SickLDMRS) -> None

Default constructor that initialize the Ethernet address to “131.254.12.119”, set the port to 12002 and allocates memory for the body messages.

  1. __init__(self: visp._visp.sensor.SickLDMRS, sick: visp._visp.sensor.SickLDMRS) -> None

Copy constructor.

setIpAddress(self, ip_address: str) → None

Set the Ethernet address of the laser.

setPort(self, com_port: int) → None

Set the communication port.

setup(*args, **kwargs)

Overloaded function.

  1. setup(self: visp._visp.sensor.SickLDMRS, ip: str, port: int) -> bool

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

Returns:

true if the device was initialized, false otherwise.

  1. setup(self: visp._visp.sensor.SickLDMRS) -> bool

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

Returns:

true if the device was initialized, false otherwise.