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Visual Servoing Platform
version 3.2.0
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#include <vpSickLDMRS.h>
Public Types | |
enum | MagicWord { MagicWordC2 = 0xAFFEC0C2 } |
enum | DataType { MeasuredData = 0x2202 } |
Public Member Functions | |
vpSickLDMRS () | |
vpSickLDMRS (const vpSickLDMRS &sick) | |
virtual | ~vpSickLDMRS () |
vpSickLDMRS & | operator= (const vpSickLDMRS &sick) |
bool | setup (const std::string &ip, int port) |
bool | setup () |
bool | measure (vpLaserScan laserscan[4]) |
void | setIpAddress (std::string ip_address) |
void | setPort (int com_port) |
Protected Attributes | |
int | socket_fd |
unsigned char * | body |
vpColVector | vAngle |
double | time_offset |
bool | isFirstMeasure |
size_t | maxlen_body |
std::string | ip |
int | port |
Driver for the Sick LD-MRS laser scanner.
The code below shows how the four laser scan provided by the Sick LD-MRS could be acquired.
Definition at line 106 of file vpSickLDMRS.h.
Enumerator | |
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MeasuredData | Flag to indicate that the body of a message contains measured data. |
Definition at line 113 of file vpSickLDMRS.h.
Enumerator | |
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MagicWordC2 | The magic word that allows to identify the messages that are sent by the Sick LD-MRS. |
Definition at line 109 of file vpSickLDMRS.h.
vpSickLDMRS::vpSickLDMRS | ( | ) |
Default constructor that initialize the Ethernet address to "131.254.12.119", set the port to 12002 and allocates memory for the body messages.
Definition at line 70 of file vpSickLDMRS.cpp.
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inline |
Copy constructor.
Definition at line 119 of file vpSickLDMRS.h.
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virtual |
Destructor that deallocate the memory for the body messages.
Definition at line 87 of file vpSickLDMRS.cpp.
bool vpSickLDMRS::measure | ( | vpLaserScan | laserscan[4] | ) |
Get the measures of the four scan layers.
Definition at line 161 of file vpSickLDMRS.cpp.
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inline |
Copy constructor.
Definition at line 127 of file vpSickLDMRS.h.
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inlineinherited |
Set the Ethernet address of the laser.
Definition at line 68 of file vpLaserScanner.h.
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inlineinherited |
Set the communication port.
Definition at line 71 of file vpLaserScanner.h.
bool vpSickLDMRS::setup | ( | ) |
Initialize the connection with the Sick LD-MRS laser scanner.
Definition at line 114 of file vpSickLDMRS.cpp.
bool vpSickLDMRS::setup | ( | const std::string & | ip_address, |
int | com_port | ||
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Initialize the connection with the Sick LD-MRS laser scanner.
ip_address | : Ethernet address of the laser. |
com_port | : Ethernet port of the laser. |
Definition at line 102 of file vpSickLDMRS.cpp.
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protected |
Definition at line 153 of file vpSickLDMRS.h.
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protectedinherited |
Definition at line 71 of file vpLaserScanner.h.
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protected |
Definition at line 156 of file vpSickLDMRS.h.
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protected |
Definition at line 157 of file vpSickLDMRS.h.
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protectedinherited |
Definition at line 75 of file vpLaserScanner.h.
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protected |
Definition at line 151 of file vpSickLDMRS.h.
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protected |
Definition at line 155 of file vpSickLDMRS.h.
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protected |
Definition at line 154 of file vpSickLDMRS.h.