lds::LFCDLaser Class Reference

#include <lds_driver.h>

Public Member Functions
void	close ()
	Close the driver down and prevent the polling loop from advancing. More...
	LFCDLaser (const std::string &port, uint32_t baud_rate, boost::asio::io_service &io)
	Constructs a new LFCDLaser attached to the given serial port. More...
void	poll ()
	Poll the laser to get a new scan. Blocks until a complete new scan is received or close is called. More...
	~LFCDLaser ()
	Default destructor. More...

Public Attributes
uint16_t	rpms
	RPMS derived from the rpm bytes in an LFCD packet. More...

Private Attributes
uint32_t	baud_rate_
	The baud rate for the serial connection. More...
uint16_t	motor_speed_
	current motor speed as reported by the LFCD. More...
std::string	port_
	The serial port the driver is attached to. More...
boost::asio::serial_port	serial_
	Actual serial port object for reading/writing to the LFCD Laser Scanner. More...
bool	shutting_down_
	Flag for whether the driver is supposed to be shutting down or not. More...

Detailed Description

Definition at line 70 of file lds_driver.h.

Constructor & Destructor Documentation

LFCDLaser()

lds::LFCDLaser::LFCDLaser	(	const std::string &	port,
		uint32_t	baud_rate,
		boost::asio::io_service &	io
	)

Constructs a new LFCDLaser attached to the given serial port.

Parameters

port	The string for the serial port device to attempt to connect to, e.g. "/dev/ttyUSB0"
baud_rate	The baud rate to open the serial port at.
io	Boost ASIO IO Service to use when creating the serial port object

Definition at line 68 of file lds_driver.cpp.

~LFCDLaser()

lds::LFCDLaser::~LFCDLaser

(

)

Default destructor.

Definition at line 77 of file lds_driver.cpp.

Member Function Documentation

close()

void lds::LFCDLaser::close ( )

inline

Close the driver down and prevent the polling loop from advancing.

Definition at line 125 of file lds_driver.h.

poll()

void lds::LFCDLaser::poll

(

)

Poll the laser to get a new scan. Blocks until a complete new scan is received or close is called.

Parameters

scan	LaserScan message pointer to fill in with the scan. The caller is responsible for filling in the ROS timestamp and frame_id

Definition at line 82 of file lds_driver.cpp.

Member Data Documentation

baud_rate_

uint32_t lds::LFCDLaser::baud_rate_

private

The baud rate for the serial connection.

Definition at line 129 of file lds_driver.h.

motor_speed_

uint16_t lds::LFCDLaser::motor_speed_

private

current motor speed as reported by the LFCD.

Definition at line 132 of file lds_driver.h.

port_

std::string lds::LFCDLaser::port_

private

The serial port the driver is attached to.

Definition at line 128 of file lds_driver.h.

rpms

uint16_t lds::LFCDLaser::rpms

RPMS derived from the rpm bytes in an LFCD packet.

Definition at line 102 of file lds_driver.h.

serial_

boost::asio::serial_port lds::LFCDLaser::serial_

private

Actual serial port object for reading/writing to the LFCD Laser Scanner.

Definition at line 131 of file lds_driver.h.

shutting_down_

bool lds::LFCDLaser::shutting_down_

private

Flag for whether the driver is supposed to be shutting down or not.

Definition at line 130 of file lds_driver.h.

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

• lds_driver.h
• lds_driver.cpp