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hokuyo_aist.h
1 /*
2  * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
3  * http://gearbox.sf.net/
4  * Copyright (c) 2008-2010 Geoffrey Biggs
5  *
6  * hokuyo_aist Hokuyo laser scanner driver.
7  *
8  * This distribution is licensed to you under the terms described in the
9  * LICENSE file included in this distribution.
10  *
11  * This work is a product of the National Institute of Advanced Industrial
12  * Science and Technology, Japan. Registration number: H22PRO-1086.
13  *
14  * This file is part of hokuyo_aist.
15  *
16  * This software is licensed under the Eclipse Public License -v 1.0 (EPL). See
17  * http://www.opensource.org/licenses/eclipse-1.0.txt
18  */
19 
20 #ifndef HOKUYO_AIST_H__
21 #define HOKUYO_AIST_H__
22 
23 #include "hokuyo_errors.h"
24 #include "sensor_info.h"
25 #include "scan_data.h"
26 #include "sensor.h"
27 
28 // TODO: The line reading code is suffering from age. It is getting bloated and
29 // complicated, not to mention slow. Reading the range data has been switched
30 // to an improved method. The rest of the reads need to be moved to this new
31 // method. Not urgent as only the range data needs to be read really
32 // efficiently.
33 
34 #endif // HOKUYO_AIST_H__
35 
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 as_string()
Format the entire object into a string.
Definition: scan_data.cpp:283
bool buffers_provided() const
Check if the buffers are being provided instead of automatic.
Definition: scan_data.h:117
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
float skew_alpha() const
Get the calculated skew line slope (default: 0).
Definition: sensor.h:266
std::string error_code_to_string(uint32_t error_code)
Return a string representing the error for the given error code.
Definition: scan_data.cpp:113
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
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 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
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
LaserModel model() const
Get the model of the laser that produced this scan.
Definition: scan_data.h:115
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
void set_multiecho_mode(MultiechoMode mode)
Set the multi-echo mode to use. Default is ME_OFF.
Definition: sensor.h:481
bool get_error_status() const
Indicates if one or more steps had an error.
Definition: scan_data.h:102
void set_skew_alpha(float alpha)
Definition: sensor.h:279
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
General error class.
Definition: hokuyo_errors.h:57
unsigned int intensities_length() const
Get the number of intensity samples in the data.
Definition: scan_data.h:97
void clean_up()
Force the data to clean up.
Definition: scan_data.cpp:322
Structure to store data returned from the laser scanner.
Definition: scan_data.h:53
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 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
unsigned int laser_time_stamp() const
Get the raw time stamp of the data in milliseconds.
Definition: scan_data.h:109
unsigned long long system_time_stamp() const
Get the system time stamp of the data in milliseconds.
Definition: scan_data.h:113
float drift_rate() const
Retrieve the current clock drift rate (0 if not set).
Definition: sensor.h:246
Hokuyo laser scanner class.
Definition: sensor.h:122
void semi_reset()
Reset everything except motor and serial speed.
Definition: sensor.cpp:574
Sensor information.
Definition: sensor_info.h:128
void set_drift_rate(float drift_rate)
Definition: sensor.h:262
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 ranges_length() const
Get the number of range samples in the data.
Definition: scan_data.h:95
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
void ignore_unknowns(bool ignore)
Enables/disables ignoring unknown lines in sensor info messages. Default is off.
Definition: sensor.h:478
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
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
Hokuyo laser scanner driver name space.
 

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