Class ScannerSickS300

• Defined in File ScannerSickS300.hpp

Nested Relationships

Nested Types

• Struct ScannerSickS300::ParamType

• Struct ScannerSickS300::ScanPolarType

Class Documentation

class ScannerSickS300

Driver class for the laser scanner SICK S300 Professional. This driver only supports use with 500KBaud in cont. mode

if the scanner is in standby, the measurements are 0x4004 according to the Sick Support

Public Types

enum [anonymous]

Values:

enumerator SCANNER_S300_READ_BUF_SIZE

enumerator READ_BUF_SIZE

enumerator WRITE_BUF_SIZE

Public Functions

ScannerSickS300()

~ScannerSickS300()

bool open(const char *pcPort, int iBaudRate, int iScanId)

Opens serial port.

Parameters:

• pcPort – used “COMx” or “/dev/tty1”

• iBaudRate – baud rate

• iScanId – the scanner id in the data header (7 by default)

void resetStartup()

void startScanner()

void stopScanner()

inline bool isInStandby()

void purgeScanBuf()

bool getScan(std::vector<double> &vdDistanceM, std::vector<double> &vdAngleRAD, std::vector<double> &vdIntensityAU, unsigned int &iTimestamp, unsigned int &iTimeNow, const bool debug)

inline void setRangeField(const int field, const ParamType &param)

struct ParamType

Public Members

int range_field

double dScale

double dStartAngle

double dStopAngle

struct ScanPolarType

Public Members

double dr

double da

double di