Package sick_ldmrs :: Module params :: Class LDMRSParams

Class LDMRSParams

object --+
         |
        LDMRSParams

parameter object converts between ROS and ldmrs parameter values and checks validity

Instance Methods

dict

update_config(self, config, level, fix_errors=False)
Update parameters from passed in config object

source code

type of parameter param_name

get_ldmrs_param(self, param_name)
Get the value of ldmrs parameter <param_name> (in LDMRS format)

source code

type of parameter param_name

get_ros_param(self, param_name)
Get the value of ROS parameter <param_name>

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __init__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Class Variables
	deg2ticks = `32`
	hz2tickfreq = `256`
	valid_tick_freqs = `[3200, 6400, 12800]`
	valid_freqs = `[12.5, 25, 50]`
	start_ticks_min = `-1919`
	start_angle_min = `-59.96`
	start_ticks_max = `1600`
	start_angle_max = `50.0`
	end_ticks_min = `-1920`
	end_angle_min = `-60.0`
	end_ticks_max = `1599`
	end_angle_max = `49.96`
	sync_ticks_min = `-5760`
	sync_angle_min = `-180.0`
	sync_ticks_max = `5759`
	sync_angle_max = `179.96`
	start_angle = `'start_angle'`
	end_angle = `'end_angle'`
	scan_frequency = `'scan_frequency'`
	sync_angle_offset = `'sync_angle_offset'`
	constant_angular_res = `'constant_angular_res'`
	use_first_echo = `'use_first_echo'`
	frame_id_prefix = `'frame_id_prefix'`
	parameter_index = `{"ip_address": ['\x00\x10', "uint32"], "tcp_...`
	ros_params = `{}`
	ldmrs_params = `{}`

Properties
Inherited from `object`: `__class__`

Method Details

update_config(self, config, level, fix_errors=False)

source code

Update parameters from passed in config object

Parameters:

config (dict {ros_param_string:value }) - dictionary of parameter value pairs
level (int) - runlevel (currently unused)
fix_errors (bool) - fix invalid input values to be within limits

Returns: dict

(possibly updated) config

get_ldmrs_param(self, param_name)

source code

Get the value of ldmrs parameter <param_name> (in LDMRS format)

Parameters:

param_name (string) - ldmrs parameter name to get the value of

Returns: type of parameter param_name

ldmrs parameter value for parmeter param_name

get_ros_param(self, param_name)

source code

Get the value of ROS parameter <param_name>

Parameters:

param_name (string) - ROS parameter name to get the value of

Returns: type of parameter param_name

ROS parameter value for parmeter param_name

Class Variable Details

parameter_index

Value:

{"ip_address": ['\x00\x10', "uint32"], "tcp_port": ['\x01\x10', "uint3
2"], "subnet_mask": ['\x02\x10', "uint32"], "standard_gateway": ['\x03
\x10', "uint32"], "data_output_flag": ['\x12\x10', "uint16"], "start_a
ngle": ['\x00\x11', "int16"], "end_angle": ['\x01\x11', "int16"], "sca
n_frequency": ['\x02\x11', "uint16"], "sync_angle_offset": ['\x03\x11'
, "int16"], "constant_angular_res": ['\x04\x11', "uint16"], "angle_tic
ks_per_rotation": ['\x05\x11', "uint16"]}