PlayerCc::LaserProxy Class Reference
[Proxies]
#include <playerc++.h>
Inherits PlayerCc::ClientProxy.
Detailed Description
TheLaserProxy class is used to control a laser device.
The latest scan data is held in two arrays: ranges and intensity. The laser scan range, resolution and so on can be configured using the Configure() method.
Public Member Functions | |
| LaserProxy (PlayerClient *aPc, uint aIndex=0) | |
| constructor | |
| ~LaserProxy () | |
| destructor | |
| uint | GetCount () const |
| Number of points in scan. | |
| double | GetScanRes () const |
| Angular resolution of scan (radians). | |
| double | GetRangeRes () const |
| Range resolution of scan (mm). | |
| double | GetMaxAngle () const |
| Scan range for the latest set of data (radians). | |
| double | GetMinAngle () const |
| Scan range for the latest set of data (radians). | |
| player_point_2d_t | GetPoint (uint aIndex) const |
| Scan data (Cartesian): x,y (m). | |
| double | GetRange (uint aIndex) const |
| get the range | |
| double | GetIntensity (uint aIndex) const |
| get the intensity | |
| void | Configure (double aMinAngle, double aMaxAngle, uint aScanRes, uint aRangeRes, bool aIntensity) |
Configure the laser scan pattern. Angles min_angle and max_angle are measured in radians. scan_res is measured in units of  ; valid values are: 25 ( ), 50 ( ) and  ). range_res is measured in mm; valid values are: 1, 10, 100. Set intensity to true to enable intensity measurements, or false to disable. | |
| void | RequestConfigure () |
| Get the current laser configuration; it is read into the relevant class attributes. | |
| void | RequestGeom () |
| Get the laser's geometry; it is read into the relevant class attributes. | |
| player_pose_t | GetPose () |
| Accessor for the pose (fill it in by calling RequestGeom). | |
| player_bbox_t | GetSize () |
| Accessor for the size (fill it in by calling RequestGeom). | |
| double | MinLeft () |
| double | MinRight () |
| double | operator[] (uint index) const |
Range access operator. This operator provides an alternate way of access the range data. For example, given an LaserProxy named lp, the following expressions are equivalent: lp.ranges[0], lp.Ranges(0), and lp[0]. | |
The documentation for this class was generated from the following file: