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hrk::Urg_driver Class Reference
Inheritance diagram for hrk::Urg_driver:
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Collaboration diagram for hrk::Urg_driver:
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Public Types

enum  { Default_baudrate = 115200, Default_port = 10940 }
 
- Public Types inherited from hrk::Lidar
enum  { Infinity_scan_times = -1 }
 
enum  connection_t { Serial, Ethernet }
 
enum  measurement_t { Distance, Distance_intensity, Multiecho, Multiecho_intensity }
 

Public Member Functions

const char * what () const
 状態を示すメッセージを返す More...
 
bool open (const std::string &device_name_or_ip_address, long baudrate_or_port_number, connection_t type=Serial)
 
bool open (Connection *connection)
 
bool is_booting ()
 センサが起動中かどうかを返す
 
void close ()
 接続を閉じる
 
bool is_open () const
 接続しているかを返す
 
void set_connection (Connection *connection)
 接続オブジェクトを設定する
 
Connectionconnection ()
 接続オブジェクトを返す
 
void set_timeout_msec (int msec)
 
bool reboot ()
 
bool sleep ()
 
void wakeup ()
 
bool start_measurement (measurement_t type=Distance, int scan_times=Infinity_scan_times, int skip_scan=0)
 
bool get_distance (std::vector< long > &data, long *time_stamp=NULL)
 
bool get_distance_intensity (std::vector< long > &data, std::vector< unsigned short > &intensity, long *time_stamp=NULL)
 
bool get_multiecho (std::vector< long > &data_multiecho, long *time_stamp=NULL)
 
bool get_multiecho_intensity (std::vector< long > &data_multiecho, std::vector< unsigned short > &intensity_multiecho, long *time_stamp=NULL)
 
bool set_scanning_parameter (int first_step, int last_step, int skip_step=1)
 
void stop_measurement ()
 
bool set_sensor_time_stamp (long time_stamp)
 
double index2rad (int index) const
 
double index2deg (int index) const
 
int rad2index (double radian) const
 
int deg2index (double degree) const
 
double step2rad (int step) const
 
double step2deg (int step) const
 
int rad2step (double radian) const
 
int deg2step (double degree) const
 
int min_step () const
 
int max_step () const
 
int front_step () const
 
int total_steps () const
 
long min_distance () const
 
long max_distance () const
 
long scan_usec () const
 
int max_data_size () const
 
int max_echo_size () const
 
std::string sensor_series_name () const
 
std::string sensor_product_name () const
 
std::string sensor_product_version () const
 
std::string serial_id () const
 

Static Public Member Functions

static std::vector< std::string > find_ports ()
 
static bool is_urg_port (const std::string &port)
 
static long decode_scip (const char *data, int data_byte)
 

Member Function Documentation

const char * Urg_driver::what ( ) const
virtual

状態を示すメッセージを返す

Returns
メッセージ文字列

Implements hrk::Lidar.


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