Defines | Functions
urg_utils.c File Reference
#include "urg_c/urg_utils.h"
#include "urg_c/urg_errno.h"
#include <math.h>
Include dependency graph for urg_utils.c:

Go to the source code of this file.

Defines

#define _USE_MATH_DEFINES
 URG センサ用の補助関数

Functions

static int max (int a, int b)
static int min (int a, int b)
int urg_deg2index (const urg_t *urg, double degree)
int urg_deg2step (const urg_t *urg, double degree)
void urg_distance_min_max (const urg_t *urg, long *min_distance, long *max_distance)
const char * urg_error (const urg_t *urg)
double urg_index2deg (const urg_t *urg, int index)
double urg_index2rad (const urg_t *urg, int index)
int urg_max_data_size (const urg_t *urg)
int urg_rad2index (const urg_t *urg, double radian)
int urg_rad2step (const urg_t *urg, double radian)
long urg_scan_usec (const urg_t *urg)
double urg_step2deg (const urg_t *urg, int step)
int urg_step2index (const urg_t *urg, int step)
double urg_step2rad (const urg_t *urg, int step)
void urg_step_min_max (const urg_t *urg, int *min_index, int *max_index)

Define Documentation

URG センサ用の補助関数

Author:
Satofumi KAMIMURA
Id:
urg_utils.c,v da778fd816c2 2011/01/05 20:02:06 Satofumi

Definition at line 11 of file urg_utils.c.


Function Documentation

static int max ( int  a,
int  b 
) [static]

Definition at line 18 of file urg_utils.c.

static int min ( int  a,
int  b 
) [static]

Definition at line 24 of file urg_utils.c.

int urg_deg2index ( const urg_t urg,
double  degree 
)

Definition at line 160 of file urg_utils.c.

int urg_deg2step ( const urg_t urg,
double  degree 
)

Definition at line 176 of file urg_utils.c.

void urg_distance_min_max ( const urg_t urg,
long *  min_distance,
long *  max_distance 
)

Example

      long min_distance, max_distance;
      urg_distance_min_max(&urg, &min_distance, &max_distance);

      for (int i = 0; i < n; ++i) {
      long distance = data[i];
      if ((distance < min_distance) || (distance > max_distance)) {
      continue;
      }
      ...
      } 

Definition at line 73 of file urg_utils.c.

const char* urg_error ( const urg_t urg)

Example

      if (!urg_open(&urg, "/dev/ttyACM0", 115200, URG_SERIAL)) {
      printf("urg_open: %s\n", urg_error(&urg));
      return -1;
      } 

Definition at line 30 of file urg_utils.c.

double urg_index2deg ( const urg_t urg,
int  index 
)

Definition at line 138 of file urg_utils.c.

double urg_index2rad ( const urg_t urg,
int  index 
)

Example

      int n = urg_get_distance(&urg, data, NULL);
      for (int i = 0; i < n; ++i) {
      long distance = data[i];
      double radian = urg_index2rad(i);
      double x = distance * cos(radian);
      double y = distance * sin(radian);
      printf("%.1f, %.1f\n", x, y);
      } 
See also:
urg_index2deg(), urg_rad2index(), urg_deg2index()

Definition at line 123 of file urg_utils.c.

int urg_max_data_size ( const urg_t urg)

Definition at line 114 of file urg_utils.c.

int urg_rad2index ( const urg_t urg,
double  radian 
)

Definition at line 144 of file urg_utils.c.

int urg_rad2step ( const urg_t urg,
double  radian 
)
long urg_scan_usec ( const urg_t urg)

Definition at line 104 of file urg_utils.c.

double urg_step2deg ( const urg_t urg,
int  step 
)

Definition at line 192 of file urg_utils.c.

int urg_step2index ( const urg_t urg,
int  step 
)

Definition at line 198 of file urg_utils.c.

double urg_step2rad ( const urg_t urg,
int  step 
)

Definition at line 182 of file urg_utils.c.

void urg_step_min_max ( const urg_t urg,
int *  min_step,
int *  max_step 
)

Example

      urg_step_min_max(&urg, &min_step, &max_step);

      printf("range first: %d [deg]\n", urg_step2deg(&urg, min_step));
      printf("range last : %d [deg]\n", urg_step2deg(&urg, max_step)); 
See also:
urg_set_scanning_parameter(), urg_step2rad(), urg_step2deg()

Definition at line 91 of file urg_utils.c.



urg_c
Author(s): Satofumi Kamimura , Katsumi Kimoto, Adrian Boeing
autogenerated on Wed Aug 26 2015 16:38:27