URG sensor utility. More...
#include "urg_c/urg_sensor.h"
Go to the source code of this file.
Functions | |
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_step, int *max_step) |
URG sensor utility.
Definition in file urg_utils.h.
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.
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); }
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 | ||
) |
Definition at line 166 of file urg_utils.c.
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));
Definition at line 91 of file urg_utils.c.