hrk::Lidar Class Reference

Lidar インターフェース More...

#include <Lidar.h>

Inheritance diagram for hrk::Lidar:

Public Types
enum	{ Infinity_scan_times = -1 }
enum	connection_t { Serial, Ethernet }
enum	measurement_t { Distance, Distance_intensity, Multiecho, Multiecho_intensity }

Public Member Functions
virtual const char *	what () const =0
	状態を示すメッセージを返す More...
virtual bool	open (const std::string &device_name_or_ip_address, long baudrate_or_port_number, connection_t type=Serial)=0
virtual bool	open (Connection *connection)=0
virtual void	close ()=0
	接続を閉じる
virtual bool	is_booting ()=0
	センサが起動中かどうかを返す
virtual bool	is_open () const =0
	接続しているかを返す
virtual void	set_connection (Connection *connection)=0
	接続オブジェクトを設定する
virtual Connection *	connection ()=0
	接続オブジェクトを返す
virtual bool	start_measurement (measurement_t type=Distance, int scan_times=Infinity_scan_times, int skip_scan=0)=0
virtual bool	get_distance (std::vector< long > &data, long *time_stamp)=0
virtual bool	get_distance_intensity (std::vector< long > &data, std::vector< unsigned short > &intensity, long *time_stamp)=0
virtual bool	get_multiecho (std::vector< long > &data_multi, long *time_stamp)=0
virtual bool	get_multiecho_intensity (std::vector< long > &data_multiecho, std::vector< unsigned short > &intensity_multiecho, long *time_stamp)=0
virtual bool	set_scanning_parameter (int first_step, int last_step, int skip_step)=0
virtual void	stop_measurement ()=0
virtual bool	set_sensor_time_stamp (long time_stamp)=0
virtual double	index2rad (int index) const =0
virtual double	index2deg (int index) const =0
virtual int	rad2index (double radian) const =0
virtual int	deg2index (double degree) const =0
virtual double	step2rad (int step) const =0
virtual double	step2deg (int step) const =0
virtual int	rad2step (double radian) const =0
virtual int	deg2step (double degree) const =0
virtual int	min_step () const =0
virtual int	max_step () const =0
virtual int	front_step () const =0
virtual int	total_steps () const =0
virtual long	min_distance () const =0
virtual long	max_distance () const =0
virtual long	scan_usec () const =0
virtual int	max_data_size () const =0
virtual int	max_echo_size () const =0
virtual std::string	sensor_series_name () const =0
virtual std::string	sensor_product_name () const =0
virtual std::string	sensor_product_version () const =0
virtual std::string	serial_id () const =0

Detailed Description

Lidar インターフェース

Member Enumeration Documentation

enum hrk::Lidar::measurement_t

Enumerator
Distance	距離
Distance_intensity	距離 + 強度
Multiecho	マルチエコーの距離
Multiecho_intensity	マルチエコーの(距離 + 強度)

Member Function Documentation

virtual const char* hrk::Lidar::what ( ) const

pure virtual

状態を示すメッセージを返す

Returns

メッセージ文字列

Implemented in hrk::mUrg_driver, hrk::Urg_driver, and hrk::Lms_driver.

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The documentation for this class was generated from the following file:

• lib/lidar/Lidar.h