psen_scan_v2_standalone::IScanner Class Reference

This is the API definition for external interaction with the scanner driver. More...

#include <scanner_interface.h>

Inheritance diagram for psen_scan_v2_standalone::IScanner:

Public Types
using	LaserScanCallback = std::function< void(const LaserScan &)>
	Represents the user-provided callback for processing incoming scan data. More...

Public Member Functions
	IScanner (const ScannerConfiguration &scanner_config, const LaserScanCallback &laser_scan_callback)
virtual std::future< void >	start ()=0
	Starts the scanner. More...
virtual std::future< void >	stop ()=0
	Stops the scanner. More...
virtual	~IScanner ()=default

Protected Member Functions
const ScannerConfiguration &	config () const
const ScannerConfiguration &	getConfig () const
const LaserScanCallback &	getLaserScanCallback () const
const LaserScanCallback &	laserScanCallback () const

Private Attributes
const ScannerConfiguration	config_
const LaserScanCallback	laser_scan_callback_

Detailed Description

This is the API definition for external interaction with the scanner driver.

This interface allows to:

• Set a configuration for the scanner on startup
• Define a callback for incoming scans
• Start and stop the communication with the scanner

See also

protocol_layer::LaserScanCallback

ScannerConfiguration

ScannerV2

Definition at line 40 of file scanner_interface.h.

Member Typedef Documentation

LaserScanCallback

using psen_scan_v2_standalone::IScanner::LaserScanCallback = std::function<void(const LaserScan&)>

Represents the user-provided callback for processing incoming scan data.

Definition at line 44 of file scanner_interface.h.

Constructor & Destructor Documentation

IScanner()

psen_scan_v2_standalone::IScanner::IScanner ( const ScannerConfiguration &  scanner_config, const LaserScanCallback &  laser_scan_callback  )

inline

Definition at line 72 of file scanner_interface.h.

~IScanner()

virtual psen_scan_v2_standalone::IScanner::~IScanner ( )

virtualdefault

Member Function Documentation

config()

const ScannerConfiguration & psen_scan_v2_standalone::IScanner::config ( ) const

inlineprotected

Definition at line 81 of file scanner_interface.h.

getConfig()

const ScannerConfiguration & psen_scan_v2_standalone::IScanner::getConfig ( ) const

inlineprotected

deprecated: use const ScannerConfiguration& config() const instead

Definition at line 91 of file scanner_interface.h.

getLaserScanCallback()

const IScanner::LaserScanCallback & psen_scan_v2_standalone::IScanner::getLaserScanCallback ( ) const

inlineprotected

deprecated: use const LaserScanCallback& laserScanCallback() const instead

Definition at line 96 of file scanner_interface.h.

laserScanCallback()

const IScanner::LaserScanCallback & psen_scan_v2_standalone::IScanner::laserScanCallback ( ) const

inlineprotected

Definition at line 86 of file scanner_interface.h.

start()

virtual std::future<void> psen_scan_v2_standalone::IScanner::start ( )

pure virtual

Starts the scanner.

Implemented in psen_scan_v2_standalone::ScannerV2.

stop()

virtual std::future<void> psen_scan_v2_standalone::IScanner::stop ( )

pure virtual

Stops the scanner.

Implemented in psen_scan_v2_standalone::ScannerV2.

Member Data Documentation

config_

const ScannerConfiguration psen_scan_v2_standalone::IScanner::config_

private

Definition at line 68 of file scanner_interface.h.

laser_scan_callback_

const LaserScanCallback psen_scan_v2_standalone::IScanner::laser_scan_callback_

private

Definition at line 69 of file scanner_interface.h.

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

• scanner_interface.h