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sensor.h void set_motor_speed(unsigned int speed) Set the speed at which the scanner's sensor spins. Definition: sensor.cpp:591 void set_baud(unsigned int baud) Change the baud rate when using a serial connection. Definition: sensor.cpp:489 std::string sensor_diagnostic Diagnostic status string. Definition: sensor_info.h:188 virtual void Flush()=0 Flush the port's input and output buffers, discarding all data. void set_power(bool on) Switch the laser scanner on or off. Definition: sensor.cpp:444 void open(std::string port_options) Open the laser scanner and begin scanning. Definition: sensor.cpp:307 std::string as_string() Format the entire object into a string. Definition: sensor_info.cpp:131 virtual ssize_t ReadLine(char *const buffer, size_t count) Read a new-line terminated string of data. Definition: port.cpp:201 float skew_alpha() const Get the calculated skew line slope (default: 0). Definition: sensor.h:266 virtual ssize_t SkipUntil(uint8_t terminator, unsigned int count) Read and dump data until the specified termination character has been seen count times. Definition: port.cpp:245 void set_high_sensitivity(bool on) Switch the scanner between normal and high sensitivity modes. Definition: sensor.cpp:640 unsigned int get_time() Get the value of the scanner's clock in milliseconds. Definition: sensor.cpp:829 void set_ip(IPAddr const &addr, IPAddr const &subnet, IPAddr const &gateway) Change the IP address information. Definition: sensor.cpp:525 void close() Close the connection to the laser scanner. Definition: sensor.cpp:425 FlexiPort data communications library. unsigned int get_new_ranges_intensities_by_angle(ScanData &data, double start_angle, double end_angle, unsigned int cluster_count=1) Get a new scan from the scanner with intensity data. Definition: sensor.cpp:1319 std::string serial Serial number of this device. Definition: sensor_info.h:151 bool is_open() const Checks if the connection to the laser scanner is open. Definition: sensor.cpp:436 unsigned int first_step First scanable step of a full scan. Definition: sensor_info.h:163 unsigned int get_new_ranges(ScanData &data, int start_step=-1, int end_step=-1, unsigned int cluster_count=1) Get a new scan from the scanner. Definition: sensor.cpp:1117 unsigned int open_with_probing(std::string port_options) Open the laser scanner and begin scanning, probing the baud rate. Definition: sensor.cpp:334 Missing firmware specification error. Definition: hokuyo_errors.h:440 MultiechoMode Possible values of the multiecho mode setting. Definition: sensor.h:65 unsigned int angle_to_step(double angle) A convenience function to convert an angle to a step (rounded towards the front). Definition: sensor.cpp:1356 unsigned int speed Current motor speed (rpm). Definition: sensor_info.h:178 double step_to_angle(unsigned int step) A convenience function to convert a step index to an angle. Definition: sensor.cpp:1349 long long time_offset() const Retrieve the calculated time offset (0 if not calibrated). Definition: sensor.h:240 std::string measure_state Measurement state. Definition: sensor_info.h:182 unsigned int min_range Minimum detectable range (mm). Definition: sensor_info.h:157 unsigned int last_step Last scanable step of a full scan. Definition: sensor_info.h:165 void set_multiecho_mode(MultiechoMode mode) Set the multi-echo mode to use. Default is ME_OFF. Definition: sensor.h:481 unsigned int get_ranges(ScanData &data, int start_step=-1, int end_step=-1, unsigned int cluster_count=1) Get the latest scan data from the scanner. Definition: sensor.cpp:954 virtual ssize_t BytesAvailableWait()=0 Get the number of bytes waiting after blocking for the timeout. unsigned int standard_speed Standard motor speed (rpm). Definition: sensor_info.h:170 double time_resolution Time between two scan points (milliseconds). Definition: sensor_info.h:200 unsigned short speed_level Speed level (0 for default) Definition: sensor_info.h:180 Structure to store data returned from the laser scanner. Definition: scan_data.h:53 unsigned int steps Number of steps in a 360-degree scan. Definition: sensor_info.h:161 long long calibrate_time(unsigned int skew_sleep_time=0, unsigned int samples=10) Calibrate the time offset between the laser and computer. Definition: sensor.cpp:860 unsigned int scanable_steps Total number of steps in a full scan (lastStep - firstStep). Definition: sensor_info.h:202 unsigned int get_ranges_intensities_by_angle(ScanData &data, double start_angle, double end_angle, unsigned int cluster_count=1) Get the latest scan data from the scanner with intensities. Definition: sensor.cpp:1091 void set_verbose(bool verbose) Turns on and off printing of verbose operating information to stderr. Default is off. Definition: sensor.h:474 unsigned int get_new_ranges_by_angle(ScanData &data, double start_angle, double end_angle, unsigned int cluster_count=1) Get a new scan from the scanner. Definition: sensor.cpp:1203 Unknown SCIP version error class. Definition: hokuyo_errors.h:212 LaserModel detected_model Detected model of the laser. Definition: sensor_info.h:206 Bad response error - may be sent in response to any command. Definition: hokuyo_errors.h:450 float drift_rate() const Retrieve the current clock drift rate (0 if not set). Definition: sensor.h:246 void semi_reset() Reset everything except motor and serial speed. Definition: sensor.cpp:574 std::string protocol Protocol version in use. Definition: sensor_info.h:149 void set_time_offset(long long time_offset) Set the time offset (if the calculated value is bad). Definition: sensor.h:243 unsigned int get_new_ranges_intensities(ScanData &data, int start_step=-1, int end_step=-1, unsigned int cluster_count=1) Get a new scan from the scanner with intensity data. Definition: sensor.cpp:1232 void get_sensor_info(SensorInfo &info) Get various information about the scanner. Definition: sensor.cpp:669 unsigned int get_ranges_intensities(ScanData &data, int start_step=-1, int end_step=-1, unsigned int cluster_count=1) Get the latest scan data from the scanner with intensities. Definition: sensor.cpp:1041 double resolution Angle between two scan points (radians). Definition: sensor_info.h:198 void ignore_unknowns(bool ignore) Enables/disables ignoring unknown lines in sensor info messages. Default is off. Definition: sensor.h:478 Insufficient bytes to calculate checksum error. Definition: hokuyo_errors.h:598 unsigned int max_range Maximum detectable range (mm). Definition: sensor_info.h:159 unsigned int get_ranges_by_angle(ScanData &data, double start_angle, double end_angle, unsigned int cluster_count=1) Get the latest scan data from the scanner. Definition: sensor.cpp:1015 uint8_t scip_version() const Return the major version of the SCIP protocol in use. Definition: sensor.h:470 bool power Operational status - illuminated or not. Definition: sensor_info.h:176 T median(std::vector< T > &v) Find the median value of a std::vector. Definition: utils.h:74 virtual ssize_t Write(const void *const buffer, size_t count)=0 Write data to the port. unsigned int get_raw_time() Get the raw value of the scanner's clock in milliseconds. Definition: sensor.cpp:835 void reset() Reset the laser scanner to its default settings. Definition: sensor.cpp:555 virtual std::string GetStatus() const Get the status of the port (type, device, etc). Definition: port.cpp:352 Hokuyo laser scanner driver name space. |