C++ API

Class Hierarchy

• • Namespace robotis
    • Namespace robotis::coin_d4
      • Class CoinD4BaseHandler
      • Class CoinD4LifecycleHandler
      • Class CoinD4NodeHandler
      • Class MultiCoinD4Node
      • Class SingleCoinD4Node
  • Struct cmd_packet
  • Struct GyroYawStr
  • Struct LaserConfig
  • Struct LaserPoint
  • Struct LaserScan
  • Struct lidar_ans_header
  • Struct LidarCoverAngleStr
  • Struct LidarGeneralInfo
  • Struct LidarHardwareStatus
  • Struct LidarPackage
  • Struct LidarTimeStatus
  • Struct node_Gyro
  • Struct node_info
  • Struct node_package
  • Struct node_package_coin
  • Struct node_packages
  • Struct PackageNode
  • Struct Timeout
  • Class Event
  • Class LidarDataProcessor
  • Class Locker
  • Class MillisecondTimer
  • Class ScopedLocker
  • Class SerialPort
  • Enum bytesize_t
  • Enum CT
  • Enum flowcontrol_t
  • Enum LIDAR_VERSION
  • Enum MOTION_AND_BLOCKED
  • Enum parity_t
  • Enum stopbits_t
  • Enum TIME_CHECK
  • Enum TIME_PRECISION

File Hierarchy

• • Directory include
    • Directory coin_d4_driver
      • Directory lidar_sdk
        • File handling_info.hpp
        • File lidar_data_processor.hpp
        • File lidar_information.hpp
        • File locker.hpp
        • File mtime.hpp
        • File serial_port.hpp
        • File timer.hpp
      • File coin_d4_base_handler.hpp
      • File coin_d4_lifecycle_handler.hpp
      • File coin_d4_node_handler.hpp
      • File multi_coin_d4_node.hpp
      • File single_coin_d4_node.hpp

Full C++ API

Namespaces

• Namespace rclcpp

• Namespace robotis

• Namespace robotis::coin_d4

Classes and Structs

• Struct cmd_packet

• Struct GyroYawStr

• Struct LaserConfig

• Struct LaserPoint

• Struct LaserScan

• Struct lidar_ans_header

• Struct LidarCoverAngleStr

• Struct LidarGeneralInfo

• Struct LidarHardwareStatus

• Struct LidarPackage

• Struct LidarTimeStatus

• Struct node_Gyro

• Struct node_info

• Struct node_package

• Struct node_package_coin

• Struct node_packages

• Struct PackageNode

• Struct Timeout

• Class Event

• Class LidarDataProcessor

• Class Locker

• Class MillisecondTimer

• Class CoinD4BaseHandler

• Class CoinD4LifecycleHandler

• Class CoinD4NodeHandler

• Class MultiCoinD4Node

• Class SingleCoinD4Node

• Class ScopedLocker

• Class SerialPort

Enums

• Enum bytesize_t

• Enum CT

• Enum flowcontrol_t

• Enum LIDAR_VERSION

• Enum MOTION_AND_BLOCKED

• Enum parity_t

• Enum stopbits_t

• Enum TIME_CHECK

• Enum TIME_PRECISION

Functions

• Function __attribute__

• Function current_times

• Function delay

• Function get_milliseconds

• Function getTime

• Function sleep_ms

Variables

• Variable __attribute__

• Variable checkSum

• Variable cmd_flag

• Variable csH

• Variable csL

• Variable d0

• Variable d1

• Variable d2

• Variable data

• Variable end_lidar

• Variable get_version

• Variable headH

• Variable headL

• Variable high_exposure

• Variable high_speed

• Variable info

• Variable low_exposure

• Variable low_speed

• Variable nowPackageNum

• Variable package_CT

• Variable package_Head

• Variable packageFirstSampleAngle

• Variable packageLastSampleAngle

• Variable packageSampleDistance

• Variable PakageSampleDistance

• Variable PakageSampleQuality

• Variable sampleinfo

• Variable size

• Variable speedH

• Variable speedL

• Variable start_lidar

• Variable startAngleH

• Variable startAngleL

• Variable stopAngleH

• Variable stopAngleL

• Variable subType

• Variable syncByte

• Variable syncByte1

• Variable syncByte2

• Variable type

Defines

• Define _countof

• Define ANGLESTRLENMAX

• Define FRAME_ANGLE_BASE

• Define FRAME_ANGLE_RANGE

• Define INTENSITY_NORMAL_PACKAGE_SIZE

• Define IS_FAIL

• Define IS_OK

• Define IS_TIMEOUT

• Define LIDAR_ANS_SYNC_BYTE1

• Define LIDAR_ANS_SYNC_BYTE2

• Define LIDAR_CMD_SYNC_BYTE

• Define LIDAR_CMDFLAG_HAS_PAYLOAD

• Define LIDAR_RESP_MEASUREMENT_ANGLE_SAMPLE_SHIFT

• Define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT

• Define LIDAR_RESP_MEASUREMENT_CHECKBIT

• Define LIDAR_RESP_MEASUREMENT_SYNCBIT

• Define Node_Default_Quality

• Define Node_NotSync

• Define Node_Sync

• Define NORMAL_PACKAGE_SIZE

• Define PackagePaidBytes

• Define PackageSampleMaxLngth

• Define PH

• Define PI

• Define RESULT_FAIL

• Define RESULT_OK

• Define RESULT_TIMEOUT

• Define ULTRASONIC_ANGLE_INC_DEG

Typedefs

• Typedef result_t

Directories

• Directory include

• Directory coin_d4_driver

• Directory lidar_sdk

Files

• File coin_d4_base_handler.hpp

• File coin_d4_lifecycle_handler.hpp

• File coin_d4_node_handler.hpp

• File handling_info.hpp

• File lidar_data_processor.hpp

• File lidar_information.hpp

• File locker.hpp

• File mtime.hpp

• File multi_coin_d4_node.hpp

• File serial_port.hpp

• File single_coin_d4_node.hpp

• File timer.hpp