sick_scan::ScannerBasicParam Class Reference

#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...
int8_t	getEncoderMode ()
	Getter-Method for encoder mode. More...
double	getExpectedFrequency (void)
	get expected scan frequency More...
bool	getIntensityResolutionIs16Bit (void)
	Get the RSSI Value length. More...
int	getMaxEvalFields (void)
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...
double	getScanAngleShift ()
bool	getScanMirroredAndShifted ()
	flag to mark mirroring of rotation direction 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...
EVAL_FIELD_SUPPORT	getUseEvalFields ()
bool	getUseSafetyPasWD ()
	flag to mark the device uses the safety scanner password Bool true for safety password false for normal password 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	setEncoderMode (int8_t _EncoderMode)
	Prama for encoder mode. More...
void	setExpectedFrequency (double _freq)
	set expected scan frequency More...
void	setIntensityResolutionIs16Bit (bool _IntensityResolutionIs16Bit)
	Set the RSSI Value length. More...
void	setMaxEvalFields (int _maxEvalFields)
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	setScanAngleShift (double _scanAngleShift)
void	setScanMirroredAndShifted (bool _scanMirroredAndShifted)
	flag to mark mirroring of rotation direction 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...
void	setUseEvalFields (EVAL_FIELD_SUPPORT _useEvalFields)
void	setUseSafetyPasWD (bool _useSafetyPasWD)
	flag to mark the device uses the safety scanner password More...

Private Attributes
double	angleDegressResolution
bool	CartographerCompatibility
bool	deviceIsRadar
double	elevationDegreeResolution
int8_t	encoderMode
double	expectedFrequency
bool	IntensityResolutionIs16Bit
int	maxEvalFields
int	numberOfLayers
int	numberOfMaximumEchos
int	numberOfShots
double	scanAngleShift
bool	scanMirroredAndShifted
std::string	scannerName
bool	useBinaryProtocol
EVAL_FIELD_SUPPORT	useEvalFields
bool	useSafetyPasWD

Detailed Description

Definition at line 70 of file sick_generic_parser.h.

Constructor & Destructor Documentation

ScannerBasicParam()

sick_scan::ScannerBasicParam::ScannerBasicParam

(

)

Construction of parameter object.

Definition at line 370 of file sick_generic_parser.cpp.

Member Function Documentation

getAngularDegreeResolution()

double sick_scan::ScannerBasicParam::getAngularDegreeResolution

(

void

)

Get angular resolution in degress.

Returns

angle resolution in degress (NOT rad) between each shot

Definition at line 187 of file sick_generic_parser.cpp.

getDeviceIsRadar()

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 260 of file sick_generic_parser.cpp.

getElevationDegreeResolution()

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 230 of file sick_generic_parser.cpp.

getEncoderMode()

int8_t sick_scan::ScannerBasicParam::getEncoderMode

(

)

Getter-Method for encoder mode.

/*!

Returns

EncoderMode:-1 Use for Scanners WO Encoder 00 disabled 01 single increment 02 direction recognition phase 03 direction recognition level

See also

setEncoderMode

Definition at line 395 of file sick_generic_parser.cpp.

getExpectedFrequency()

double sick_scan::ScannerBasicParam::getExpectedFrequency

(

void

)

get expected scan frequency

Returns

expected scan frequency in [Hz]

See also

setExpectedFrequency

Definition at line 208 of file sick_generic_parser.cpp.

getIntensityResolutionIs16Bit()

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 310 of file sick_generic_parser.cpp.

getMaxEvalFields()

int sick_scan::ScannerBasicParam::getMaxEvalFields

(

void

)

Definition at line 345 of file sick_generic_parser.cpp.

getNumberOfLayers()

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 109 of file sick_generic_parser.cpp.

getNumberOfMaximumEchos()

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 155 of file sick_generic_parser.cpp.

getNumberOfShots()

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 132 of file sick_generic_parser.cpp.

getScanAngleShift()

double sick_scan::ScannerBasicParam::getScanAngleShift

(

)

Definition at line 360 of file sick_generic_parser.cpp.

getScanMirroredAndShifted()

bool sick_scan::ScannerBasicParam::getScanMirroredAndShifted

(

void

)

flag to mark mirroring of rotation direction

Parameters

_scanMirrored

false for normal mounting true for up side down or NAV 310

See also

getScanMirrored

Definition at line 280 of file sick_generic_parser.cpp.

getScannerName()

std::string sick_scan::ScannerBasicParam::getScannerName

(

void

)

Getting name (type) of scanner.

Returns

Name of scanner

See also

setScannerName

Definition at line 86 of file sick_generic_parser.cpp.

getUseBinaryProtocol()

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 290 of file sick_generic_parser.cpp.

getUseEvalFields()

EVAL_FIELD_SUPPORT sick_scan::ScannerBasicParam::getUseEvalFields

(

)

Definition at line 335 of file sick_generic_parser.cpp.

getUseSafetyPasWD()

bool sick_scan::ScannerBasicParam::getUseSafetyPasWD

(

)

flag to mark the device uses the safety scanner password Bool true for safety password false for normal password

See also

getUseSafetyPasWD

Definition at line 330 of file sick_generic_parser.cpp.

setAngularDegreeResolution()

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 177 of file sick_generic_parser.cpp.

setDeviceIsRadar()

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 250 of file sick_generic_parser.cpp.

setElevationDegreeResolution()

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 219 of file sick_generic_parser.cpp.

setEncoderMode()

void sick_scan::ScannerBasicParam::setEncoderMode

(

int8_t

_encoderMode

)

Prama for encoder mode.

Parameters

_EncoderMode

-1 Use for Scanners WO Encoder 00 disabled 01 single increment 02 direction recognition phase 03 direction recognition level

See also

setEncoderMode

Definition at line 384 of file sick_generic_parser.cpp.

setExpectedFrequency()

void sick_scan::ScannerBasicParam::setExpectedFrequency

(

double

_freq

)

set expected scan frequency

Parameters

_freq

scan frequency in [Hz]

See also

getExpectedFrequency

Definition at line 197 of file sick_generic_parser.cpp.

setIntensityResolutionIs16Bit()

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 300 of file sick_generic_parser.cpp.

setMaxEvalFields()

void sick_scan::ScannerBasicParam::setMaxEvalFields

(

int

_maxEvalFields

)

Definition at line 350 of file sick_generic_parser.cpp.

setNumberOfLayers()

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 98 of file sick_generic_parser.cpp.

setNumberOfMaximumEchos()

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 143 of file sick_generic_parser.cpp.

setNumberOfShots()

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 121 of file sick_generic_parser.cpp.

setScanAngleShift()

void sick_scan::ScannerBasicParam::setScanAngleShift

(

double

_scanAngleShift

)

Definition at line 355 of file sick_generic_parser.cpp.

setScanMirroredAndShifted()

void sick_scan::ScannerBasicParam::setScanMirroredAndShifted

(

bool

_scannMirroredAndShifted

)

flag to mark mirroring of rotation direction

Parameters

_scanMirrored

false for normal mounting true for up side down or NAV 310

See also

setScanMirrored

Definition at line 270 of file sick_generic_parser.cpp.

setScannerName()

void sick_scan::ScannerBasicParam::setScannerName

(

std::string

_s

)

Setting name (type) of scanner.

Parameters

_s	name of scanner

See also

getScannerName

Definition at line 75 of file sick_generic_parser.cpp.

setUseBinaryProtocol()

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 240 of file sick_generic_parser.cpp.

setUseEvalFields()

void sick_scan::ScannerBasicParam::setUseEvalFields

(

EVAL_FIELD_SUPPORT

_useEvalFields

)

Definition at line 340 of file sick_generic_parser.cpp.

setUseSafetyPasWD()

void sick_scan::ScannerBasicParam::setUseSafetyPasWD

(

bool

_useSafetyPasWD

)

flag to mark the device uses the safety scanner password

Parameters

_useSafetyPasWD

false for normal scanners true for safety scanners

See also

setUseSafetyPasWD

Definition at line 320 of file sick_generic_parser.cpp.

Member Data Documentation

angleDegressResolution

double sick_scan::ScannerBasicParam::angleDegressResolution

private

Definition at line 144 of file sick_generic_parser.h.

CartographerCompatibility

bool sick_scan::ScannerBasicParam::CartographerCompatibility

private

Definition at line 151 of file sick_generic_parser.h.

deviceIsRadar

bool sick_scan::ScannerBasicParam::deviceIsRadar

private

Definition at line 148 of file sick_generic_parser.h.

elevationDegreeResolution

double sick_scan::ScannerBasicParam::elevationDegreeResolution

private

Definition at line 143 of file sick_generic_parser.h.

encoderMode

int8_t sick_scan::ScannerBasicParam::encoderMode

private

Definition at line 150 of file sick_generic_parser.h.

expectedFrequency

double sick_scan::ScannerBasicParam::expectedFrequency

private

Definition at line 145 of file sick_generic_parser.h.

IntensityResolutionIs16Bit

bool sick_scan::ScannerBasicParam::IntensityResolutionIs16Bit

private

Definition at line 147 of file sick_generic_parser.h.

maxEvalFields

int sick_scan::ScannerBasicParam::maxEvalFields

private

Definition at line 154 of file sick_generic_parser.h.

numberOfLayers

int sick_scan::ScannerBasicParam::numberOfLayers

private

Definition at line 140 of file sick_generic_parser.h.

numberOfMaximumEchos

int sick_scan::ScannerBasicParam::numberOfMaximumEchos

private

Definition at line 142 of file sick_generic_parser.h.

numberOfShots

int sick_scan::ScannerBasicParam::numberOfShots

private

Definition at line 141 of file sick_generic_parser.h.

scanAngleShift

double sick_scan::ScannerBasicParam::scanAngleShift

private

Definition at line 155 of file sick_generic_parser.h.

scanMirroredAndShifted

bool sick_scan::ScannerBasicParam::scanMirroredAndShifted

private

Definition at line 152 of file sick_generic_parser.h.

scannerName

std::string sick_scan::ScannerBasicParam::scannerName

private

Definition at line 139 of file sick_generic_parser.h.

useBinaryProtocol

bool sick_scan::ScannerBasicParam::useBinaryProtocol

private

Definition at line 146 of file sick_generic_parser.h.

useEvalFields

EVAL_FIELD_SUPPORT sick_scan::ScannerBasicParam::useEvalFields

private

Definition at line 153 of file sick_generic_parser.h.

useSafetyPasWD

bool sick_scan::ScannerBasicParam::useSafetyPasWD

private

Definition at line 149 of file sick_generic_parser.h.

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

• sick_generic_parser.h
• sick_generic_parser.cpp