Inheritance diagram for hrk::Urg_driver:

Collaboration diagram for hrk::Urg_driver:

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

Connection *	connection ()
	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:

lib/lidar/Urg_driver.h
lib/lidar/Urg_driver.cpp

Public Types

Public Member Functions

Static Public Member Functions

Member Function Documentation