urg_utils.h File Reference

URG sensor utility. More...

#include "urg_c/urg_sensor.h"

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Functions
int	urg_deg2index (const urg_t *urg, double degree)
int	urg_deg2step (const urg_t *urg, double degree)
void	urg_distance_min_max (const urg_t *urg, long *min_distance, long *max_distance)
const char *	urg_error (const urg_t *urg)
double	urg_index2deg (const urg_t *urg, int index)
double	urg_index2rad (const urg_t *urg, int index)
int	urg_max_data_size (const urg_t *urg)
int	urg_rad2index (const urg_t *urg, double radian)
int	urg_rad2step (const urg_t *urg, double radian)
long	urg_scan_usec (const urg_t *urg)
double	urg_step2deg (const urg_t *urg, int step)
int	urg_step2index (const urg_t *urg, int step)
double	urg_step2rad (const urg_t *urg, int step)
void	urg_step_min_max (const urg_t *urg, int *min_step, int *max_step)

Detailed Description

URG sensor utility.

Author

Satofumi KAMIMURA

Id

urg_utils.h,v 630ee326c5ce 2011/02/19 08:06:25 Satofumi

Definition in file urg_utils.h.

Function Documentation

urg_deg2index()

int urg_deg2index	(	const urg_t *	urg,
		double	degree
	)

Definition at line 160 of file urg_utils.c.

urg_deg2step()

int urg_deg2step	(	const urg_t *	urg,
		double	degree
	)

Definition at line 176 of file urg_utils.c.

urg_distance_min_max()

void urg_distance_min_max	(	const urg_t *	urg,
		long *	min_distance,
		long *	max_distance
	)

Example

long min_distance, max_distance;
urg_distance_min_max(&urg, &min_distance, &max_distance);

for (int i = 0; i < n; ++i) {
long distance = data[i];
if ((distance < min_distance) || (distance > max_distance)) {
continue;
}
...
} 

Definition at line 73 of file urg_utils.c.

urg_error()

const char* urg_error

(

const urg_t *

urg

)

Example

if (!urg_open(&urg, "/dev/ttyACM0", 115200, URG_SERIAL)) {
printf("urg_open: %s\n", urg_error(&urg));
return -1;
} 

Definition at line 30 of file urg_utils.c.

urg_index2deg()

double urg_index2deg	(	const urg_t *	urg,
		int	index
	)

Definition at line 138 of file urg_utils.c.

urg_index2rad()

double urg_index2rad	(	const urg_t *	urg,
		int	index
	)

Example

int n = urg_get_distance(&urg, data, NULL);
for (int i = 0; i < n; ++i) {
long distance = data[i];
double radian = urg_index2rad(i);
double x = distance * cos(radian);
double y = distance * sin(radian);
printf("%.1f, %.1f\n", x, y);
} 

See also

urg_index2deg(), urg_rad2index(), urg_deg2index()

Definition at line 123 of file urg_utils.c.

urg_max_data_size()

int urg_max_data_size

(

const urg_t *

urg

)

Definition at line 114 of file urg_utils.c.

urg_rad2index()

int urg_rad2index	(	const urg_t *	urg,
		double	radian
	)

Definition at line 144 of file urg_utils.c.

urg_rad2step()

int urg_rad2step	(	const urg_t *	urg,
		double	radian
	)

See also

urg_step_min_max(), urg_deg2step(), urg_step2rad(), urg_step2deg()

Definition at line 166 of file urg_utils.c.

urg_scan_usec()

long urg_scan_usec

(

const urg_t *

urg

)

Definition at line 104 of file urg_utils.c.

urg_step2deg()

double urg_step2deg	(	const urg_t *	urg,
		int	step
	)

Definition at line 192 of file urg_utils.c.

urg_step2index()

int urg_step2index	(	const urg_t *	urg,
		int	step
	)

Definition at line 198 of file urg_utils.c.

urg_step2rad()

double urg_step2rad	(	const urg_t *	urg,
		int	step
	)

Definition at line 182 of file urg_utils.c.

urg_step_min_max()

void urg_step_min_max	(	const urg_t *	urg,
		int *	min_step,
		int *	max_step
	)

Example

urg_step_min_max(&urg, &min_step, &max_step);

printf("range first: %d [deg]\n", urg_step2deg(&urg, min_step));
printf("range last : %d [deg]\n", urg_step2deg(&urg, max_step)); 

See also

urg_set_scanning_parameter(), urg_step2rad(), urg_step2deg()

Definition at line 91 of file urg_utils.c.