#include <urg_c_wrapper.h>

Public Member Functions
ros::Duration	computeLatency (size_t num_measurements)
double	getAngleIncrement () const
double	getAngleMax () const
double	getAngleMaxLimit () const
double	getAngleMin () const
double	getAngleMinLimit () const
bool	getAR00Status (URGStatus &status)
ros::Duration	getComputedLatency () const
std::string	getDeviceID ()
bool	getDL00Status (UrgDetectionReport &report)
std::string	getFirmwareDate ()
std::string	getFirmwareVersion ()
std::string	getIPAddress () const
int	getIPPort () const
std::string	getProductName ()
std::string	getProtocolVersion ()
double	getRangeMax () const
double	getRangeMin () const
double	getScanPeriod () const
std::string	getSensorState ()
std::string	getSensorStatus ()
int	getSerialBaud () const
std::string	getSerialPort () const
double	getTimeIncrement () const
ros::Duration	getUserTimeOffset () const
std::string	getVendorName ()
bool	grabScan (const sensor_msgs::LaserScanPtr &msg)
bool	grabScan (const sensor_msgs::MultiEchoLaserScanPtr &msg)
bool	isStarted () const
bool	setAngleLimitsAndCluster (double &angle_min, double &angle_max, int cluster)
void	setFrameId (const std::string &frame_id)
bool	setSkip (int skip)
void	setUserLatency (const double latency)
void	start ()
void	stop ()
	URGCWrapper (const std::string &ip_address, const int ip_port, bool &using_intensity, bool &using_multiecho, bool synchronize_time)
	URGCWrapper (const int serial_baud, const std::string &serial_port, bool &using_intensity, bool &using_multiecho, bool synchronize_time)
	~URGCWrapper ()
Private Member Functions
uint16_t	checkCRC (const char *bytes, const uint32_t size)
	calculate the crc of a given set of bytes.
ros::Duration	getAngularTimeOffset () const
ros::Duration	getNativeClockOffset (size_t num_measurements)
ros::Time	getSynchronizedTime (long time_stamp, long long system_time_stamp)
	Get synchronized time stamp using hardware clock.
ros::Duration	getTimeStampOffset (size_t num_measurements)
void	initialize (bool &using_intensity, bool &using_multiecho, bool synchronize_time)
bool	isIntensitySupported ()
bool	isMultiEchoSupported ()
std::string	sendCommand (std::string cmd)
	Send an arbitrary serial command to the lidar. These commands can also be sent via the ethernet socket.
bool	setToSCIP2 ()
	Set the Hokuyo URG-04LX from SCIP 1.1 mode to SCIP 2.0 mode.
Private Attributes
const double	adj_alpha_ = .01
uint64_t	adj_count_
int	cluster_
std::vector< long >	data_
int	first_step_
std::string	frame_id_
	Output frame_id for each laserscan.
double	hardware_clock_
double	hardware_clock_adj_
std::vector< unsigned short >	intensity_
std::string	ip_address_
int	ip_port_
long	last_hardware_time_stamp_
int	last_step_
urg_measurement_type_t	measurement_type_
int	serial_baud_
std::string	serial_port_
int	skip_
bool	started_
bool	synchronize_time_
ros::Duration	system_latency_
urg_t	urg_
bool	use_intensity_
bool	use_multiecho_
ros::Duration	user_latency_

Detailed Description

Definition at line 89 of file urg_c_wrapper.h.

Constructor & Destructor Documentation

urg_node::URGCWrapper::URGCWrapper	(	const std::string &	ip_address,
		const int	ip_port,
		bool &	using_intensity,
		bool &	using_multiecho,
		bool	synchronize_time
	)

Definition at line 44 of file urg_c_wrapper.cpp.

urg_node::URGCWrapper::URGCWrapper	(	const int	serial_baud,
		const std::string &	serial_port,
		bool &	using_intensity,
		bool &	using_multiecho,
		bool	synchronize_time
	)

Definition at line 70 of file urg_c_wrapper.cpp.

urg_node::URGCWrapper::~URGCWrapper ( )

Definition at line 200 of file urg_c_wrapper.cpp.

Member Function Documentation

uint16_t urg_node::URGCWrapper::checkCRC	(	const char *	bytes,
		const uint32_t	size
	)		`[private]`

calculate the crc of a given set of bytes.

Parameters:

bytes	The bytes array to be processed.
size	The size of the bytes array.

Returns:: the calculated CRC of the bytes.

Definition at line 572 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::computeLatency ( size_t num_measurements )

Definition at line 923 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleIncrement ( ) const

Definition at line 716 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleMax ( ) const

Definition at line 695 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleMaxLimit ( ) const

Definition at line 708 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleMin ( ) const

Definition at line 690 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleMinLimit ( ) const

Definition at line 700 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getAngularTimeOffset ( ) const [private]

Definition at line 907 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::getAR00Status ( URGStatus & status )

Definition at line 342 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getComputedLatency ( ) const

Definition at line 790 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getDeviceID ( )

Definition at line 785 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::getDL00Status ( UrgDetectionReport & report )

Definition at line 432 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getFirmwareDate ( )

Definition at line 775 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getFirmwareVersion ( )

Definition at line 770 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getIPAddress ( ) const

Definition at line 740 of file urg_c_wrapper.cpp.

int urg_node::URGCWrapper::getIPPort ( ) const

Definition at line 745 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getNativeClockOffset ( size_t num_measurements ) [private]

Definition at line 953 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getProductName ( )

Definition at line 765 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getProtocolVersion ( )

Definition at line 780 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getRangeMax ( ) const

Definition at line 682 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getRangeMin ( ) const

Definition at line 674 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getScanPeriod ( ) const

Definition at line 723 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getSensorState ( )

Definition at line 805 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getSensorStatus ( )

Definition at line 800 of file urg_c_wrapper.cpp.

int urg_node::URGCWrapper::getSerialBaud ( ) const

Definition at line 755 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getSerialPort ( ) const

Definition at line 750 of file urg_c_wrapper.cpp.

ros::Time urg_node::URGCWrapper::getSynchronizedTime	(	long	time_stamp,
		long long	system_time_stamp
	)		`[private]`

Get synchronized time stamp using hardware clock.

Parameters:

time_stamp	The current hardware time stamp.
system_time_stamp	The current system time stamp.

Returns:: ros::Time stamp representing synchronized time

Definition at line 1052 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getTimeIncrement ( ) const

Definition at line 729 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getTimeStampOffset ( size_t num_measurements ) [private]

Definition at line 994 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getUserTimeOffset ( ) const

Definition at line 795 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getVendorName ( )

Definition at line 760 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::grabScan ( const sensor_msgs::LaserScanPtr & msg )

Definition at line 206 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::grabScan ( const sensor_msgs::MultiEchoLaserScanPtr & msg )

Definition at line 270 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::initialize	(	bool &	using_intensity,
		bool &	using_multiecho,
		bool	synchronize_time
	)		`[private]`

Definition at line 97 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::isIntensitySupported ( ) [private]

Definition at line 873 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::isMultiEchoSupported ( ) [private]

Definition at line 890 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::isStarted ( ) const

Definition at line 669 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::sendCommand ( std::string cmd ) [private]

Send an arbitrary serial command to the lidar. These commands can also be sent via the ethernet socket.

Parameters:

cmd	The arbitrary command fully formatted to be sent as provided

Returns:: The textual response of the Lidar, empty if, but may return lidar's own error string.

Definition at line 579 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::setAngleLimitsAndCluster	(	double &	angle_min,
		double &	angle_max,
		int	cluster
	)

Definition at line 821 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::setFrameId ( const std::string & frame_id )

Definition at line 810 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::setSkip ( int skip )

Definition at line 868 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::setToSCIP2 ( ) [private]

Set the Hokuyo URG-04LX from SCIP 1.1 mode to SCIP 2.0 mode.

Returns:: True if successful and false if not.

Definition at line 545 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::setUserLatency ( const double latency )

Definition at line 815 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::start ( )

Definition at line 170 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::stop ( )

Definition at line 194 of file urg_c_wrapper.cpp.

Member Data Documentation

const double urg_node::URGCWrapper::adj_alpha_ = .01 [private]

Definition at line 237 of file urg_c_wrapper.h.

uint64_t urg_node::URGCWrapper::adj_count_ [private]

Definition at line 238 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::cluster_ [private]

Definition at line 226 of file urg_c_wrapper.h.

std::vector<long> urg_node::URGCWrapper::data_ [private]

Definition at line 218 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::first_step_ [private]

Definition at line 224 of file urg_c_wrapper.h.

std::string urg_node::URGCWrapper::frame_id_ [private]

Output frame_id for each laserscan.

Definition at line 213 of file urg_c_wrapper.h.

double urg_node::URGCWrapper::hardware_clock_ [private]

Definition at line 234 of file urg_c_wrapper.h.

double urg_node::URGCWrapper::hardware_clock_adj_ [private]

Definition at line 236 of file urg_c_wrapper.h.

std::vector<unsigned short> urg_node::URGCWrapper::intensity_ [private]

Definition at line 219 of file urg_c_wrapper.h.

std::string urg_node::URGCWrapper::ip_address_ [private]

Definition at line 240 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::ip_port_ [private]

Definition at line 241 of file urg_c_wrapper.h.

long urg_node::URGCWrapper::last_hardware_time_stamp_ [private]

Definition at line 235 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::last_step_ [private]

Definition at line 225 of file urg_c_wrapper.h.

urg_measurement_type_t urg_node::URGCWrapper::measurement_type_ [private]

Definition at line 223 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::serial_baud_ [private]

Definition at line 243 of file urg_c_wrapper.h.

std::string urg_node::URGCWrapper::serial_port_ [private]

Definition at line 242 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::skip_ [private]

Definition at line 227 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::started_ [private]

Definition at line 216 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::synchronize_time_ [private]

Definition at line 233 of file urg_c_wrapper.h.

ros::Duration urg_node::URGCWrapper::system_latency_ [private]

Definition at line 229 of file urg_c_wrapper.h.

urg_t urg_node::URGCWrapper::urg_ [private]

Definition at line 215 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::use_intensity_ [private]

Definition at line 221 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::use_multiecho_ [private]

Definition at line 222 of file urg_c_wrapper.h.

ros::Duration urg_node::URGCWrapper::user_latency_ [private]

Definition at line 230 of file urg_c_wrapper.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation