#include <sick_generic_parser.h>

Public Member Functions
double	getAngularDegreeResolution (void)
	Get angular resolution in degress. More...

bool	getDeviceIsRadar (void)
	flag to mark the device as radar (instead of laser scanner) More...

double	getElevationDegreeResolution (void)
	get angular resolution in VERTICAL direction for multilayer scanner More...

double	getExpectedFrequency (void)
	get expected scan frequency More...

bool	getIntensityResolutionIs16Bit (void)
	Get the RSSI Value length. More...

int	getNumberOfLayers (void)
	Getting number of scanner layers. More...

int	getNumberOfMaximumEchos (void)
	Get number of maximum echoes for this laser scanner type. More...

int	getNumberOfShots (void)
	Get number of shots per scan. More...

std::string	getScannerName (void)
	Getting name (type) of scanner. More...

bool	getUseBinaryProtocol (void)
	flag to decide between usage of ASCII-sopas or BINARY-sopas More...

	ScannerBasicParam ()
	Construction of parameter object. More...

void	setAngularDegreeResolution (double _res)
	Set angular resolution in degrees. More...

void	setDeviceIsRadar (bool _deviceIsRadar)
	flag to mark the device as radar (instead of laser scanner) More...

void	setElevationDegreeResolution (double _elevRes)
	set angular resolution in VERTICAL direction for multilayer scanner More...

void	setExpectedFrequency (double _freq)
	set expected scan frequency More...

void	setIntensityResolutionIs16Bit (bool _IntensityResolutionIs16Bit)
	Set the RSSI Value length. More...

void	setNumberOfLayers (int _layerNum)
	Setting number of scanner layers (depending of scanner type/family) More...

void	setNumberOfMaximumEchos (int _maxEchos)
	Set number of maximum echoes for this laser scanner type. More...

void	setNumberOfShots (int _shots)
	Set number of shots per scan. More...

void	setScannerName (std::string _s)
	Setting name (type) of scanner. More...

void	setUseBinaryProtocol (bool _useBinary)
	flag to decide between usage of ASCII-sopas or BINARY-sopas More...

Private Attributes
double	angleDegressResolution

bool	CartographerCompatibility

bool	deviceIsRadar

double	elevationDegreeResolution

double	expectedFrequency

bool	IntensityResolutionIs16Bit

int	numberOfLayers

int	numberOfMaximumEchos

int	numberOfShots

std::string	scannerName

bool	useBinaryProtocol

Detailed Description

Definition at line 55 of file sick_generic_parser.h.

Constructor & Destructor Documentation

sick_scan::ScannerBasicParam::ScannerBasicParam ( )

Construction of parameter object.

Definition at line 298 of file sick_generic_parser.cpp.

Member Function Documentation

double sick_scan::ScannerBasicParam::getAngularDegreeResolution ( void )

Get angular resolution in degress.

Returns: angle resolution in degress (NOT rad) between each shot

Definition at line 185 of file sick_generic_parser.cpp.

bool sick_scan::ScannerBasicParam::getDeviceIsRadar ( void )

flag to mark the device as radar (instead of laser scanner)

Parameters

_deviceIsRadar false for laserscanner, true for radar (like rms_3xx)

See also: getDeviceIsRadar

Definition at line 258 of file sick_generic_parser.cpp.

double sick_scan::ScannerBasicParam::getElevationDegreeResolution ( void )

get angular resolution in VERTICAL direction for multilayer scanner

Returns: elevation resolution in degree

See also: setElevationDegreeResolution

Definition at line 228 of file sick_generic_parser.cpp.

double sick_scan::ScannerBasicParam::getExpectedFrequency ( void )

get expected scan frequency

Returns: expected scan frequency in [Hz]

See also: setExpectedFrequency

Definition at line 206 of file sick_generic_parser.cpp.

bool sick_scan::ScannerBasicParam::getIntensityResolutionIs16Bit ( void )

Get the RSSI Value length.

Returns: Boolean value: True=16 Bit False=8Bit

See also: setUseBinaryProtocol

Definition at line 287 of file sick_generic_parser.cpp.

int sick_scan::ScannerBasicParam::getNumberOfLayers ( void )

Getting number of scanner layers.

Returns: Number of scanners layer (e.g. 1 for TiM5xx and 24 for MRS6124)

See also: setNumberOfLayers

Definition at line 107 of file sick_generic_parser.cpp.

int sick_scan::ScannerBasicParam::getNumberOfMaximumEchos ( void )

Get number of maximum echoes for this laser scanner type.

Returns: Number of max echoes

See also: setNumberOfMaximumEchos

Definition at line 153 of file sick_generic_parser.cpp.

int sick_scan::ScannerBasicParam::getNumberOfShots ( void )

Get number of shots per scan.

Returns: Number of shots per scan (for one layer)

See also: getNumberOfLayers

Definition at line 130 of file sick_generic_parser.cpp.

std::string sick_scan::ScannerBasicParam::getScannerName ( void )

Getting name (type) of scanner.

Returns: Name of scanner

See also: setScannerName

Definition at line 84 of file sick_generic_parser.cpp.

bool sick_scan::ScannerBasicParam::getUseBinaryProtocol ( void )

flag to decide between usage of ASCII-sopas or BINARY-sopas

Returns: _useBinary: True for binary, False for ASCII

See also: getUseBinaryProtocol

Definition at line 268 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setAngularDegreeResolution ( double _res )

Set angular resolution in degrees.

Parameters

_res	resolution in degress (NOT rad) between each shot

See also: getAngularDegreeResolution

Definition at line 175 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setDeviceIsRadar ( bool _deviceIsRadar )

flag to mark the device as radar (instead of laser scanner)

Parameters

_deviceIsRadar false for laserscanner, true for radar (like rms_3xx)

See also: getDeviceIsRadar

Definition at line 248 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setElevationDegreeResolution ( double _elevRes )

set angular resolution in VERTICAL direction for multilayer scanner

Parameters

_elevRes resolution in degree

See also: getElevationDegreeResolution

Definition at line 217 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setExpectedFrequency ( double _freq )

set expected scan frequency

Parameters

_freq scan frequency in [Hz]

See also: getExpectedFrequency

Definition at line 195 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setIntensityResolutionIs16Bit ( bool _IntensityResolutionIs16Bit )

Set the RSSI Value length.

Parameters

_useBinary Boolean value: True=16 Bit False=8Bit

See also: getUseBinaryProtocol

Definition at line 277 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setNumberOfLayers ( int _layerNum )

Setting number of scanner layers (depending of scanner type/family)

Parameters

_layerNum of scanner layers (e.g. 1 for TiM5xx and 24 for MRS6124

See also: getNumberOfLayers

Definition at line 96 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setNumberOfMaximumEchos ( int _maxEchos )

Set number of maximum echoes for this laser scanner type.

Parameters

_maxEchos of max echoes

See also: getNumberOfMaximumEchos

Definition at line 141 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setNumberOfShots ( int _shots )

Set number of shots per scan.

Parameters

_shots of shots per scan (for one layer)

See also: getNumberOfLayers

Definition at line 119 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setScannerName ( std::string _s )

Setting name (type) of scanner.

Parameters

_s	name of scanner

See also: getScannerName

Definition at line 73 of file sick_generic_parser.cpp.

void sick_scan::ScannerBasicParam::setUseBinaryProtocol ( bool _useBinary )

flag to decide between usage of ASCII-sopas or BINARY-sopas

Parameters

_useBinary True for binary, False for ASCII

See also: getUseBinaryProtocol

Definition at line 238 of file sick_generic_parser.cpp.

Member Data Documentation

double sick_scan::ScannerBasicParam::angleDegressResolution

private

Definition at line 85 of file sick_generic_parser.h.

bool sick_scan::ScannerBasicParam::CartographerCompatibility

private

Definition at line 91 of file sick_generic_parser.h.

bool sick_scan::ScannerBasicParam::deviceIsRadar

private

Definition at line 89 of file sick_generic_parser.h.

double sick_scan::ScannerBasicParam::elevationDegreeResolution

private

Definition at line 84 of file sick_generic_parser.h.

double sick_scan::ScannerBasicParam::expectedFrequency

private

Definition at line 86 of file sick_generic_parser.h.

bool sick_scan::ScannerBasicParam::IntensityResolutionIs16Bit

private

Definition at line 88 of file sick_generic_parser.h.

int sick_scan::ScannerBasicParam::numberOfLayers

private

Definition at line 81 of file sick_generic_parser.h.

int sick_scan::ScannerBasicParam::numberOfMaximumEchos

private

Definition at line 83 of file sick_generic_parser.h.

int sick_scan::ScannerBasicParam::numberOfShots

private

Definition at line 82 of file sick_generic_parser.h.

std::string sick_scan::ScannerBasicParam::scannerName

private

Definition at line 80 of file sick_generic_parser.h.

bool sick_scan::ScannerBasicParam::useBinaryProtocol

private

Definition at line 87 of file sick_generic_parser.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation