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26 std::string _ip = std::string(
"192.168.0.1"),
27 unsigned int _port = 2111);
43 bool& outThereIsObservation,
45 bool& hardwareError)
override;
109 const std::string& iniSection)
override;
A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing...
CSICKTim561Eth(std::string _ip=std::string("192.168.0.1"), unsigned int _port=2111)
Constructor.
void doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) override
This function acquire a laser scan from the device.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
mrpt::poses::CPose3D m_sensorPose
void roughPrint(char *msg)
void setSensorPose(const mrpt::poses::CPose3D &_pose)
A method to set the sensor pose on the robot.
Contains classes for various device interfaces.
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
Load sensor pose on the robot, or keep the default sensor pose.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
void generateCmd(const char *cmd)
This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...
mrpt::comms::CClientTCPSocket m_client
This class allows loading and storing values and vectors of different types from a configuration text...
void sendCommand(const char *cmd)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
bool turnOn() override
This method must be called before trying to get a laser scan.
TCLAP::CmdLine cmd("system_control_rate_timer_example")
void doProcess() override
This method must be called periodically.
void initialize() override
Initialize the sensor according to the parameters previously read in the configuration file.
bool decodeLogIn(char *msg)
bool decodeScan(char *buf, mrpt::obs::CObservation2DRangeScan &outObservation)
~CSICKTim561Eth() override
Deconstructor.
unsigned int m_scanFrequency
bool turnOff() override
This method could be called manually to stop communication with the device.
bool rebootDev()
This method could be called manually to reboot the device.
bool decodeScanCfg(std::istringstream &stream)
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