#include <ls01b.h>
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| static LS01B * | instance (std::string port, int baud_rate, double resolution) |
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| uint16_t | checkSum (const uint8_t *p_byte) |
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| | LS01B (std::string port, int baud_rate, double resolution=0.25) |
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| void | recvThread () |
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Definition at line 30 of file ls01b.h.
| ls::LS01B::LS01B |
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std::string |
port, |
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int |
baud_rate, |
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double |
resolution = 0.25 |
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) |
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private |
| uint16_t ls::LS01B::checkSum |
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const uint8_t * |
p_byte | ) |
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private |
| int ls::LS01B::getRate |
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| double ls::LS01B::getRPM |
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| int ls::LS01B::getScan |
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std::vector< ScanPoint > & |
points, |
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ros::Time & |
scan_time, |
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float & |
scan_duration |
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) |
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获取雷达数据 poins: 雷达点的数据。类型为ScanPoint数组
Definition at line 62 of file ls01b.cpp.
| int ls::LS01B::getVersion |
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std::string & |
version | ) |
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获取软件版本号 version: 返回版本号
Definition at line 72 of file ls01b.cpp.
| LS01B * ls::LS01B::instance |
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std::string |
port, |
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int |
baud_rate, |
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double |
resolution |
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) |
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static |
实例化雷达 port: 串口号， baud_rate: 波特率 460800 resolution: 雷达角度分辨率1.0度 0.5度 0.25度
Definition at line 13 of file ls01b.cpp.
| bool ls::LS01B::isHealth |
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| void ls::LS01B::recvThread |
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private |
| bool ls::LS01B::resetHealth |
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| int ls::LS01B::setMotorSpeed |
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int |
rpm | ) |
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set the motor spped rpm: round per minute
Definition at line 194 of file ls01b.cpp.
| int ls::LS01B::setResolution |
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double |
resolution | ) |
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设置雷达数据分辨率 resolution: 分辨率
Definition at line 216 of file ls01b.cpp.
| int ls::LS01B::setScanMode |
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bool |
is_continuous | ) |
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set scan mode. continouse or once is_continuous:
Definition at line 120 of file ls01b.cpp.
| int ls::LS01B::startScan |
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start lidar, System work normally
Definition at line 83 of file ls01b.cpp.
| int ls::LS01B::stopRecvData |
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stop recv data from lidar
Definition at line 146 of file ls01b.cpp.
| int ls::LS01B::stopScan |
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stop lidar, System in sleep mode
Definition at line 102 of file ls01b.cpp.
| int ls::LS01B::switchData |
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bool |
use_angle | ) |
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switch angle or intensity in recv data use_angle: true. the angle is chosed false. the intensity is chosed
Definition at line 165 of file ls01b.cpp.
| bool ls::LS01B::is_shutdown_ |
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private |
| bool ls::LS01B::is_start_ |
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| boost::mutex ls::LS01B::mutex_ |
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| int ls::LS01B::points_size_ |
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| double ls::LS01B::real_rpm_ |
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private |
| boost::thread* ls::LS01B::recv_thread_ |
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| double ls::LS01B::resolution_ |
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| int ls::LS01B::scan_health_ |
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private |
| std::vector<ScanPoint> ls::LS01B::scan_points_ |
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| std::vector<ScanPoint> ls::LS01B::scan_points_bak_ |
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private |
| bool ls::LS01B::use_angle_ |
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private |
The documentation for this class was generated from the following files: