Provides a simple driver interface for working with the Sick LD-OEM/Sick LD-LRS long-range models via Ethernet. More...

#include <SickLD.hh>

Inheritance diagram for SickToolbox::SickLD:

Classes
struct	sick_ld_config_ethernet_tag
	A structure to aggregate the data used to configure the Sick LD unit for Ethernet. More...
struct	sick_ld_config_global_tag
	A structure to aggregate the data used to configure the Sick LD global parameter values. More...
struct	sick_ld_config_sector_tag
	A structure to aggregate data used to define the Sick LD's sector configuration. More...
struct	sick_ld_identity_tag
	A structure to aggregate the fields that collectively define the identity of a Sick LD unit. More...
struct	sick_ld_scan_profile_tag
	A structure to aggregate the fields that collectively define the profile of a single scan acquired from the Sick LD unit. More...
struct	sick_ld_sector_data_tag
	A structure to aggregate the fields that collectively define a sector in the scan area of the Sick LD unit. More...
Public Types
typedef struct SickToolbox::SickLD::sick_ld_config_ethernet_tag	sick_ld_config_ethernet_t
	Adopt c-style convention.
typedef struct SickToolbox::SickLD::sick_ld_config_global_tag	sick_ld_config_global_t
	Adopt c-style convention.
typedef struct SickToolbox::SickLD::sick_ld_config_sector_tag	sick_ld_config_sector_t
	Adopt c-style convention.
typedef struct SickToolbox::SickLD::sick_ld_identity_tag	sick_ld_identity_t
	Adopt c-style convention.
typedef struct SickToolbox::SickLD::sick_ld_scan_profile_tag	sick_ld_scan_profile_t
	Adopt c-style convention.
typedef struct SickToolbox::SickLD::sick_ld_sector_data_tag	sick_ld_sector_data_t
	Adopt c-style convention.
Public Member Functions
void	DisableNearfieldSuppression () throw ( SickErrorException, SickTimeoutException, SickIOException )
	Disables nearfield suppressive filtering.
void	EnableNearfieldSuppression () throw ( SickErrorException, SickTimeoutException, SickIOException )
	Enables nearfield suppressive filtering.
std::string	GetSickAppSoftwareName () const
	Acquire the Sick LD's application software name.
std::string	GetSickAppSoftwarePartNumber () const
	Acquire the Sick LD's application software part number.
std::string	GetSickAppSoftwareVersionNumber () const
	Acquire the Sick LD's application software version number.
std::string	GetSickEDMSerialNumber () const
	Acquire the Sick LD's EDM serial number.
std::string	GetSickEthernetConfigAsString () const
	Acquire the Sick LD's global config as a printable string.
std::string	GetSickFirmwareName () const
	Acquire the Sick LD's firmware number.
std::string	GetSickFirmwarePartNumber () const
	Acquire the Sick LD's firmware part number.
std::string	GetSickFirmwareVersion () const
	Acquire the Sick LD's firmware version.
std::string	GetSickGatewayIPAddress () const
	Acquire the IP address of the Sick gateway.
std::string	GetSickGlobalConfigAsString () const
	Acquire the Sick LD's global config as a printable string.
std::string	GetSickIdentityAsString () const
	Acquire the Sick LD's identity as a printable string.
std::string	GetSickIPAddress () const
	Acquire the current IP address of the Sick.
void	GetSickMeasurements (double const range_measurements, unsigned int const echo_measurements=NULL, unsigned int const num_measurements=NULL, unsigned int const sector_ids=NULL, unsigned int const sector_data_offsets=NULL, double const sector_step_angles=NULL, double const sector_start_angles=NULL, double const sector_stop_angles=NULL, unsigned int const sector_start_timestamps=NULL, unsigned int const sector_stop_timestamps=NULL) throw ( SickErrorException, SickIOException, SickTimeoutException, SickConfigException )
	Acquires measurements and corresponding sector data from the Sick LD.
unsigned int	GetSickMotorSpeed () const
	Acquire the Sick LD's current motor speed in Hz.
std::string	GetSickName () const
	Acquire the Sick LD's name.
unsigned int	GetSickNumActiveSectors () const
	Acquire the number of sectors that are measuring.
std::string	GetSickPartNumber () const
	Acquire the Sick LD's part number.
double	GetSickScanArea () const
	Computes the active area over all measuring sectors.
double	GetSickScanResolution () const
	Acquire the Sick LD's current scan resolution.
std::string	GetSickSectorConfigAsString () const
	Acquire the Sick LD's sector config as a printable string.
unsigned int	GetSickSensorID () const
	Acquire the Sick LD's sensor ID.
std::string	GetSickSerialNumber () const
	Acquire the Sick LD's serial number.
void	GetSickSignals (uint8_t &sick_signal_flags) throw ( SickIOException, SickTimeoutException )
	Gets the Sick LD signal LED's and switching outputs.
void	GetSickStatus (unsigned int &sick_sensor_mode, unsigned int &sick_motor_mode) throw ( SickIOException, SickTimeoutException )
	Acquires the status of the Sick from the device.
std::string	GetSickStatusAsString () const
	Acquire the Sick LD's status as a printable string.
std::string	GetSickSubnetMask () const
	Acquire the subnet mask for the Sick.
void	GetSickTime (uint16_t &sick_time) throw ( SickIOException, SickTimeoutException, SickErrorException )
	Gets the internal clock time of the Sick LD unit.
std::string	GetSickVersion () const
	Acquire the Sick LD's version number.
void	Initialize () throw ( SickIOException, SickThreadException, SickTimeoutException, SickErrorException )
	Initializes the driver and syncs it with Sick LD unit. Uses sector config given in flash.
void	PrintSickEthernetConfig () const
	Print the Sick LD's Ethernet configuration.
void	PrintSickGlobalConfig () const
	Print the Sick LD's global configuration.
void	PrintSickIdentity () const
	Print the parameters comprising the Sick LD's identity.
void	PrintSickSectorConfig () const
	Print the Sick LD's sector configuration.
void	PrintSickStatus () const
	Print the status of the Sick LD.
void	ResetSick (const unsigned int reset_level=SICK_WORK_SERV_RESET_INIT_CPU) throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException )
	Resets the device according to the given reset level.
void	SetSickGlobalParamsAndScanAreas (const unsigned int sick_motor_speed, const double sick_step_angle, const double const active_sector_start_angles, const double const active_sector_stop_angles, const unsigned int num_active_sectors) throw ( SickTimeoutException, SickIOException, SickConfigException, SickErrorException )
	Attempts to set the scan resolution and active sectors/scan areas for the device (in flash)
void	SetSickMotorSpeed (const unsigned int sick_motor_speed) throw ( SickErrorException, SickTimeoutException, SickIOException )
void	SetSickScanAreas (const double const active_sector_start_angles, const double const active_sector_stop_angles, const unsigned int num_active_sectors) throw ( SickTimeoutException, SickIOException, SickConfigException, SickErrorException )
	Attempts to set the active scan areas for the device (in flash)
void	SetSickScanResolution (const double sick_step_angle) throw ( SickTimeoutException, SickIOException, SickConfigException )
	Attempts to set a new scan resolution for the device (in flash) while retaining the previously defined active scan areas.
void	SetSickSensorID (const unsigned int sick_sensor_id) throw ( SickErrorException, SickTimeoutException, SickIOException )
	Attempts to set a new sensor ID for the device (in flash)
void	SetSickSignals (const uint8_t sick_signal_flags=DEFAULT_SICK_SIGNAL_SET) throw ( SickIOException, SickTimeoutException, SickErrorException )
	Sets the Sick LD signal LED's and switching outputs.
void	SetSickTempScanAreas (const double active_sector_start_angles, const double const active_sector_stop_angles, const unsigned int num_active_sectors) throw ( SickTimeoutException, SickIOException, SickConfigException )
	Set the temporary scan areas for the Sick LD.
void	SetSickTimeAbsolute (const uint16_t absolute_clock_time, uint16_t &new_sick_clock_time) throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException )
	Set the absolute time of the Sick LD unit.
void	SetSickTimeRelative (const int16_t time_delta, uint16_t &new_sick_clock_time) throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException )
	Set the relative time of the Sick LD unit.
	SickLD (const std::string sick_ip_address=DEFAULT_SICK_IP_ADDRESS, const uint16_t sick_tcp_port=DEFAULT_SICK_TCP_PORT)
	A standard constructor.
void	Uninitialize () throw ( SickIOException, SickTimeoutException, SickErrorException, SickThreadException )
	Tear down the connection between the host and the Sick LD.
	~SickLD ()
Static Public Attributes
static const uint8_t	SICK_CONF_KEY_CAN = 0x02
	Key for configuring CAN.
static const uint8_t	SICK_CONF_KEY_ETHERNET = 0x05
	Key for configuring Ethernet.
static const uint8_t	SICK_CONF_KEY_GLOBAL = 0x10
	Key for global configuration.
static const uint8_t	SICK_CONF_KEY_RS232_RS422 = 0x01
	Key for configuring RS-232/RS-422.
static const uint8_t	SICK_CONF_SECTOR_NO_MEASUREMENT = 0x01
	Sector has no measurements.
static const uint8_t	SICK_CONF_SECTOR_NORMAL_MEASUREMENT = 0x03
	Sector is returning measurements.
static const uint8_t	SICK_CONF_SECTOR_NOT_INITIALIZED = 0x00
	Sector is uninitialized.
static const uint8_t	SICK_CONF_SECTOR_REFERENCE_MEASUREMENT = 0x04
	Sector can be used as reference measurement.
static const uint8_t	SICK_CONF_SECTOR_RESERVED = 0x02
	Sector is reserved by Sick LD.
static const uint8_t	SICK_CONF_SERV_CODE = 0x02
	Configuration service code.
static const uint8_t	SICK_CONF_SERV_GET_CONFIGURATION = 0x02
	Read the Sick LD configuration information.
static const uint8_t	SICK_CONF_SERV_GET_FUNCTION = 0x0B
	Returns the configuration of the given sector.
static const uint8_t	SICK_CONF_SERV_GET_SYNC_CLOCK = 0x05
	Read the internal time of the LD-OEM/LD-LRS.
static const uint8_t	SICK_CONF_SERV_SET_CONFIGURATION = 0x01
	Set the Sick LD configuration.
static const uint8_t	SICK_CONF_SERV_SET_FILTER = 0x09
	Set the filter configuration.
static const uint8_t	SICK_CONF_SERV_SET_FILTER_NEARFIELD = 0x01
	Code for identifying filter type: nearfield suppression.
static const uint8_t	SICK_CONF_SERV_SET_FILTER_NEARFIELD_OFF = 0x00
	Used to set nearfield suppression off.
static const uint8_t	SICK_CONF_SERV_SET_FILTER_NEARFIELD_ON = 0x01
	Used to set nearfield suppression on.
static const uint8_t	SICK_CONF_SERV_SET_FUNCTION = 0x0A
	Assigns a measurement function to an angle range.
static const uint8_t	SICK_CONF_SERV_SET_TIME_ABSOLUTE = 0x03
	Set the internal clock to a timestamp value.
static const uint8_t	SICK_CONF_SERV_SET_TIME_RELATIVE = 0x04
	Correct the internal clock by some value.
static const double	SICK_DEGREES_PER_MOTOR_STEP = 0.0625
	Each odometer tick is equivalent to rotating the scan head this many degrees.
static const uint8_t	SICK_FILE_SERV_CODE = 0x07
	File service code.
static const uint8_t	SICK_FILE_SERV_DELETE = 0x04
	Deletes a file from the flash.
static const uint8_t	SICK_FILE_SERV_DIR = 0x01
	List the stored files in flash memory.
static const uint8_t	SICK_FILE_SERV_LOAD = 0x03
	Recalls a file from the flash.
static const uint8_t	SICK_FILE_SERV_SAVE = 0x02
	Saves the data into flash memory.
static const uint16_t	SICK_MAX_MEAN_PULSE_FREQUENCY = 10800
	Max mean pulse frequence of the current device configuration (in Hz) (see page 22 of the operator's manual)
static const uint16_t	SICK_MAX_MOTOR_SPEED = 20
	Maximum motor speed in Hz.
static const uint16_t	SICK_MAX_NUM_MEASUREMENTS = 2881
	Maximum number of measurements per sector.
static const uint16_t	SICK_MAX_NUM_MEASURING_SECTORS = 4
	Maximum number of active/measuring scan sectors.
static const uint16_t	SICK_MAX_NUM_SECTORS = 8
	Maximum number of scan sectors (NOTE: This value must be even)
static const uint16_t	SICK_MAX_PULSE_FREQUENCY = 14400
	Max pulse frequency of the device (in Hz) (see page 22 of the operator's manual)
static const double	SICK_MAX_SCAN_ANGULAR_RESOLUTION = 0.125
	Minimum valid separation between laser pulses in active scan ares (deg)
static const uint16_t	SICK_MAX_SCAN_AREA = 360
	Maximum area that can be covered in a single scan (deg)
static const uint16_t	SICK_MAX_VALID_SENSOR_ID = 254
	The largest value the Sick will accept as a Sensor ID.
static const uint8_t	SICK_MEAS_SERV_CANCEL_PROFILE = 0x02
	Stops profile output.
static const uint8_t	SICK_MEAS_SERV_CODE = 0x03
	Measurement service code.
static const uint8_t	SICK_MEAS_SERV_GET_PROFILE = 0x01
	Requests n profiles of a defined format.
static const uint16_t	SICK_MIN_MOTOR_SPEED = 5
	Minimum motor speed in Hz.
static const uint16_t	SICK_MIN_VALID_SENSOR_ID = 1
	The lowest value the Sick will accept as a Sensor ID.
static const uint8_t	SICK_MONR_SERV_CODE = 0x08
	Monitor service code.
static const uint8_t	SICK_MONR_SERV_MONITOR_PROFILE_LOG = 0x02
	Enable/disable profile logging.
static const uint8_t	SICK_MONR_SERV_MONITOR_RUN = 0x01
	Enable/disable monitor services.
static const uint8_t	SICK_MOTOR_MODE_ERROR = 0x0B
	Motor stops or coder error.
static const uint8_t	SICK_MOTOR_MODE_OK = 0x00
	Motor is functioning properly.
static const uint8_t	SICK_MOTOR_MODE_SPIN_TOO_HIGH = 0x09
	Motor spin too low (i.e. rotational velocity too low)
static const uint8_t	SICK_MOTOR_MODE_SPIN_TOO_LOW = 0x04
	Motor spin too high (i.e. rotational velocity too fast)
static const uint8_t	SICK_MOTOR_MODE_UNKNOWN = 0xFF
	Motor is in an unknown state.
static const uint16_t	SICK_NUM_TICKS_PER_MOTOR_REV = 5760
	Odometer ticks per revolution of the Sick LD scan head.
static const uint8_t	SICK_ROUT_SERV_CODE = 0x06
	Routing service code.
static const uint8_t	SICK_ROUT_SERV_COM_ATTACH = 0x01
	Attach a master (host) communications interface.
static const uint8_t	SICK_ROUT_SERV_COM_DATA = 0x05
	Forward data received on specified interface to master interface.
static const uint8_t	SICK_ROUT_SERV_COM_DETACH = 0x02
	Detach a master (host) communications interface.
static const uint8_t	SICK_ROUT_SERV_COM_INITIALIZE = 0x03
	Initialize the interface (Note: using this may not be necessary for some interfaces, e.g. Ethernet)
static const uint8_t	SICK_ROUT_SERV_COM_OUTPUT = 0x04
	Output data to the interface.
static const uint16_t	SICK_SCAN_PROFILE_RANGE = 0x39FF
	Request sector scan data w/o any echo data.
static const uint16_t	SICK_SCAN_PROFILE_RANGE_AND_ECHO = 0x3DFF
	Request sector scan data w/ echo data.
static const uint8_t	SICK_SENSOR_MODE_ERROR = 0x04
	The Sick LD is in error mode.
static const uint8_t	SICK_SENSOR_MODE_IDLE = 0x01
	The Sick LD is powered but idle.
static const uint8_t	SICK_SENSOR_MODE_MEASURE = 0x03
	The Sick LD prism is rotating, and the laser is on.
static const uint8_t	SICK_SENSOR_MODE_ROTATE = 0x02
	The Sick LD prism is rotating, but laser is off.
static const uint8_t	SICK_SENSOR_MODE_UNKNOWN = 0xFF
	The Sick LD is in an unknown state.
static const uint8_t	SICK_SIGNAL_LED_GREEN = 0x04
	Mask for green LED.
static const uint8_t	SICK_SIGNAL_LED_RED = 0x08
	Mask for red LED.
static const uint8_t	SICK_SIGNAL_LED_YELLOW_A = 0x01
	Mask for first yellow LED.
static const uint8_t	SICK_SIGNAL_LED_YELLOW_B = 0x02
	Mask for second yellow LED.
static const uint8_t	SICK_SIGNAL_SWITCH_0 = 0x10
	Mask for signal switch 0.
static const uint8_t	SICK_SIGNAL_SWITCH_1 = 0x20
	Mask for signal switch 1.
static const uint8_t	SICK_SIGNAL_SWITCH_2 = 0x40
	Mask for signal switch 2.
static const uint8_t	SICK_SIGNAL_SWITCH_3 = 0x80
	Mask for signal switch 3.
static const uint8_t	SICK_STAT_SERV_CODE = 0x01
	Status service code.
static const uint8_t	SICK_STAT_SERV_GET_ID = 0x01
	Request the Sick LD ID.
static const uint8_t	SICK_STAT_SERV_GET_ID_APP_NAME = 0x21
	Request the application name.
static const uint8_t	SICK_STAT_SERV_GET_ID_APP_PART_NUM = 0x20
	Request the application part number.
static const uint8_t	SICK_STAT_SERV_GET_ID_APP_VERSION = 0x22
	Request the application version.
static const uint8_t	SICK_STAT_SERV_GET_ID_FIRMWARE_NAME = 0x11
	Request the firmware's name.
static const uint8_t	SICK_STAT_SERV_GET_ID_FIRMWARE_PART_NUM = 0x10
	Requess the firmware's part number.
static const uint8_t	SICK_STAT_SERV_GET_ID_FIRMWARE_VERSION = 0x12
	Request the firmware's version.
static const uint8_t	SICK_STAT_SERV_GET_ID_SENSOR_EDM_SERIAL_NUM = 0x04
	Request the edm??? serial number.
static const uint8_t	SICK_STAT_SERV_GET_ID_SENSOR_NAME = 0x01
	Request the sensor's name.
static const uint8_t	SICK_STAT_SERV_GET_ID_SENSOR_PART_NUM = 0x00
	Request the sensor's part number.
static const uint8_t	SICK_STAT_SERV_GET_ID_SENSOR_SERIAL_NUM = 0x03
	Request the sensor's serial number.
static const uint8_t	SICK_STAT_SERV_GET_ID_SENSOR_VERSION = 0x02
	Request the sensor's version.
static const uint8_t	SICK_STAT_SERV_GET_SIGNAL = 0x04
	Reads the value of the switch and LED port.
static const uint8_t	SICK_STAT_SERV_GET_STATUS = 0x02
	Request status information.
static const uint8_t	SICK_STAT_SERV_LD_REGISTER_APPLICATION = 0x06
	Registers the ID data for the application firmware.
static const uint8_t	SICK_STAT_SERV_SET_SIGNAL = 0x05
	Sets the switches and LEDs.
static const uint8_t	SICK_WORK_SERV_CODE = 0x04
	Working service code.
static const uint8_t	SICK_WORK_SERV_RESET = 0x01
	Sick LD enters a reset sequence.
static const uint8_t	SICK_WORK_SERV_RESET_HALT_APP = 0x02
	Sick LD does a minimal reset (Application is halted and device enters IDLE state)
static const uint8_t	SICK_WORK_SERV_RESET_INIT_CPU = 0x00
	Sick LD does a complete reset (Reinitializes the CPU)
static const uint8_t	SICK_WORK_SERV_RESET_KEEP_CPU = 0x01
	Sick LD does a partial reset (CPU is not reinitialized)
static const uint8_t	SICK_WORK_SERV_TRANS_IDLE = 0x02
	Sick LD enters IDLE mode (motor stops and laser is turned off)
static const uint8_t	SICK_WORK_SERV_TRANS_MEASURE = 0x04
	Sick LD enters MEASURE mode (laser starts with next revolution)
static const uint8_t	SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_MAX_PULSE = 0x01
	Sick LD reports config yields a max laser pulse frequency that is too high.
static const uint8_t	SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_MEAN_PULSE = 0x02
	Sick LD reports config yields a max mean pulse frequency that is too high.
static const uint8_t	SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_SECT_BORDER = 0x03
	Sick LD reports sector borders are not configured correctly.
static const uint8_t	SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_SECT_BORDER_MULT = 0x04
	Sick LD reports sector borders are not a multiple of the step angle.
static const uint8_t	SICK_WORK_SERV_TRANS_MEASURE_RET_OK = 0x00
	Sick LD is ready to stream/obtain scan profiles.
static const uint8_t	SICK_WORK_SERV_TRANS_ROTATE = 0x03
	Sick LD enters ROTATE mode (motor starts and rotates with a specified speed in Hz, laser is off)
Private Member Functions
uint16_t	_angleToTicks (const double angle) const
	Converts encoder ticks to equivalent angle representation.
void	_cancelSickScanProfiles () throw ( SickErrorException, SickTimeoutException, SickIOException )
	Kills the current data stream.
double	_computeMaxPulseFrequency (const double total_scan_area, const double curr_motor_speed, const double curr_angular_resolution) const
	Compute the mean pulse frequency (see page 22 of the operator's manual)
double	_computeMeanPulseFrequency (const double active_scan_area, const double curr_motor_speed, const double curr_angular_resolution) const
	Compute the mean pulse frequency (see page 22 of the operator's manual)
double	_computeScanArea (const double sick_step_angle, const double const sector_start_angles, const double const sector_stop_angles, const unsigned int num_sectors) const
	Computes the active scan area for the Sick given the current sector configuration.
void	_flushTCPRecvBuffer () throw ( SickIOException, SickThreadException )
	Flushes TCP receive buffer contents.
void	_generateSickSectorConfig (const double const active_sector_start_angles, const double const active_sector_stop_angles, const unsigned int num_active_sectors, const double sick_step_angle, unsigned int const sector_functions, double const sector_stop_angles, unsigned int &num_sectors) const
void	_getApplicationSoftwareName () throw ( SickTimeoutException, SickIOException )
	Get application software name.
void	_getApplicationSoftwarePartNumber () throw ( SickTimeoutException, SickIOException )
	Get application software part number.
void	_getApplicationSoftwareVersion () throw ( SickTimeoutException, SickIOException )
	Get application software part number.
void	_getFirmwareName () throw ( SickTimeoutException, SickIOException )
	Get firmware name.
void	_getFirmwarePartNumber () throw ( SickTimeoutException, SickIOException )
	Get firmware part number.
void	_getFirmwareVersion () throw ( SickTimeoutException, SickIOException )
	Get firmware version number.
void	_getIdentificationString (const uint8_t id_request_code, std::string &id_return_string) throw ( SickTimeoutException, SickIOException )
	Query the Sick LD for a particular ID string.
void	_getSensorEDMSerialNumber () throw ( SickTimeoutException, SickIOException )
	Get sensor EDM serial number.
void	_getSensorName () throw ( SickTimeoutException, SickIOException )
	Get the Sick LD's assigned sensor name.
void	_getSensorPartNumber () throw ( SickTimeoutException, SickIOException )
	Get the Sick LD's part number.
void	_getSensorSerialNumber () throw ( SickTimeoutException, SickIOException )
	Get the Sick LD's serial number.
void	_getSensorVersion () throw ( SickTimeoutException, SickIOException )
	Get the Sick LD's sensor version.
void	_getSickEthernetConfig () throw ( SickErrorException, SickTimeoutException, SickIOException )
	Get the Sick LD's Ethernet configuration.
void	_getSickGlobalConfig () throw ( SickErrorException, SickTimeoutException, SickIOException )
	Get the global configuration of the Sick LD.
void	_getSickIdentity () throw ( SickTimeoutException, SickIOException )
	Get the parameters that define the Sick LD's identity.
void	_getSickScanProfiles (const uint16_t profile_format, const uint16_t num_profiles=DEFAULT_SICK_NUM_SCAN_PROFILES) throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException )
	Request n scan profiles from the Sick LD unit.
void	_getSickSectorConfig () throw ( SickErrorException, SickTimeoutException, SickIOException )
	Query the Sick for its current sector configuration.
void	_getSickSectorFunction (const uint8_t sector_num, uint8_t &sector_function, double &sector_stop_angle) throw ( SickErrorException, SickTimeoutException, SickIOException )
	Acquires the function of the given sector.
void	_getSickStatus () throw ( SickTimeoutException, SickIOException )
	Get the status of the Sick LD.
void	_parseScanProfile (uint8_t *const src_buffer, sick_ld_scan_profile_t &profile_data) const
	Parses a well-formed sequence of bytes into a corresponding scan profile.
void	_printInitFooter () const
	Prints the initialization footer.
void	_printSectorProfileData (const sick_ld_sector_data_t &sector_data) const
	Print data corresponding to the referenced sector data structure.
void	_printSickScanProfile (const sick_ld_scan_profile_t profile_data, const bool print_sector_data=true) const
	Prints data fields of the given scan profile.
void	_sendMessageAndGetReply (const SickLDMessage &send_message, SickLDMessage &recv_message, const unsigned int timeout_value=DEFAULT_SICK_MESSAGE_TIMEOUT) throw ( SickIOException, SickTimeoutException )
	Send a message to the Sick LD and get its reply.
void	_setSickFilter (const uint8_t suppress_code) throw ( SickErrorException, SickTimeoutException, SickIOException )
	Enables/disables nearfield suppression on the Sick LD.
void	_setSickGlobalConfig (const uint8_t sick_sensor_id, const uint8_t sick_motor_speed, const double sick_angle_step) throw ( SickErrorException, SickTimeoutException, SickIOException )
	Sets the Sick LD's global parameters (sensor id, motor speed, and angular step) in flash.
void	_setSickGlobalParamsAndScanAreas (const unsigned int sick_motor_speed, const double sick_step_angle, const double const active_sector_start_angles, const double const active_sector_stop_angles, const unsigned int num_active_sectors) throw ( SickTimeoutException, SickIOException, SickConfigException, SickErrorException )
	Attempts to set the "permanent" (by writing flash) operating values for the device.
void	_setSickSectorConfig (const unsigned int const sector_functions, const double const sector_stop_angles, const unsigned int num_sectors, const bool write_to_flash=false) throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException )
	Sets the sector configuration for the device.
void	_setSickSectorFunction (const uint8_t sector_number, const uint8_t sector_function, const double sector_angle_stop, const bool write_to_flash=false) throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException )
	Sets the function for a particular scan sector.
void	_setSickSensorMode (const uint8_t new_sick_sensor_mode) throw ( SickErrorException, SickTimeoutException, SickIOException )
	Sets the Sick LD to the requested sensor mode.
void	_setSickSensorModeToIdle () throw ( SickErrorException, SickTimeoutException, SickIOException )
	Sets the Sick LD sensor mode to IDLE.
void	_setSickSensorModeToMeasure () throw ( SickErrorException, SickTimeoutException, SickIOException )
	Sets the Sick LD sensor mode to ROTATE.
void	_setSickSensorModeToRotate () throw ( SickErrorException, SickTimeoutException, SickIOException )
	Sets the Sick LD sensor mode to ROTATE.
void	_setSickSignals (const uint8_t sick_signal_flags=DEFAULT_SICK_SIGNAL_SET) throw ( SickIOException, SickTimeoutException, SickErrorException )
	Sets the Sick LEDs and switching outputs.
void	_setSickTemporaryScanAreas (const double const active_sector_start_angles, const double const active_sector_stop_angles, const unsigned int num_active_sectors) throw ( SickTimeoutException, SickIOException, SickConfigException )
	Attempts to set the "temporary" (until a device reset) scan area config for the device.
void	_setupConnection () throw ( SickIOException, SickTimeoutException )
	Establish a TCP connection to the unit.
std::string	_sickMotorModeToString (const uint8_t sick_motor_mode) const
	Converts the Sick LD numerical motor mode to a representative string.
std::string	_sickProfileFormatToString (const uint16_t profile_format) const
	Converts the Sick LD numerical motor mode to a representative string.
std::string	_sickResetLevelToString (const uint16_t reset_level) const
	Converts the Sick LD numerical reset level to a representative string.
std::string	_sickSectorFunctionToString (const uint16_t sick_sector_function) const
	Converts the Sick LD numerical sector config to a representative string.
std::string	_sickSensorModeToString (const uint8_t sick_sensor_mode) const
	Converts the Sick LD numerical sensor mode to a representative string.
uint8_t	_sickSensorModeToWorkServiceSubcode (const uint8_t sick_sensor_mode) const
	Map Sick LD sensor modes to their equivalent service subcode representations.
std::string	_sickTransMeasureReturnToString (const uint8_t return_value) const
	Converts return value from TRANS_MEASURE to a representative string.
void	_sortScanAreas (double const sector_start_angles, double const sector_stop_angles, const unsigned int num_sectors) const
	Sort the scan areas based on the given angles to place them in device "scan" order.
bool	_supportedScanProfileFormat (const uint16_t profile_format) const
	Check that the given profile format is supported by the current driver version.
void	_syncDriverWithSick () throw ( SickIOException, SickTimeoutException, SickErrorException )
	Synchronizes buffer driver parameters with those of the Sick LD.
void	_teardownConnection () throw ( SickIOException )
	Teardown TCP connection to Sick LD.
double	_ticksToAngle (const uint16_t ticks) const
	Converts encoder ticks to equivalent angle representation.
bool	_validActiveSectors (const double const sector_start_angles, const double const sector_stop_angles, const unsigned int num_active_sectors) const
	Determines wheter a given set of sector bounds are valid.
bool	_validPulseFrequency (const unsigned int sick_motor_speed, const double sick_step_angle) const
	Checks whether the given configuration yields a valid mean and max pulse frequency (uses current sector config)
bool	_validPulseFrequency (const unsigned int sick_motor_speed, const double sick_step_angle, const double const active_sector_start_angles, const double const active_sector_stop_angles, const unsigned int num_active_sectors) const
	Checks whether the given configuration yields a valid mean and max pulse frequency (uses given sector config)
bool	_validSickMotorSpeed (const unsigned int sick_motor_speed) const
	Checks whether the given sick motor speed is valid for the device.
bool	_validSickScanResolution (const double sick_step_angle, const double const active_sector_start_angles, const double const active_sector_stop_angles, const unsigned int num_active_sectors) const
	Checks whether the given scan resolution is valid.
bool	_validSickSensorID (const unsigned int sick_sensor_id) const
	Checks whether the given senor id is valid for the device.
Private Attributes
sick_ld_config_ethernet_t	_sick_ethernet_config
sick_ld_config_global_t	_sick_global_config
sick_ld_identity_t	_sick_identity
struct sockaddr_in	_sick_inet_address_info
std::string	_sick_ip_address
uint8_t	_sick_motor_mode
sick_ld_config_sector_t	_sick_sector_config
uint8_t	_sick_sensor_mode
bool	_sick_streaming_range_and_echo_data
bool	_sick_streaming_range_data
uint16_t	_sick_tcp_port
unsigned int	_socket

Detailed Description

Provides a simple driver interface for working with the Sick LD-OEM/Sick LD-LRS long-range models via Ethernet.

Definition at line 56 of file SickLD.hh.

Member Typedef Documentation

SickToolbox::SickLD::sick_ld_config_ethernet_t

Adopt c-style convention.

SickToolbox::SickLD::sick_ld_config_global_t

Adopt c-style convention.

SickToolbox::SickLD::sick_ld_config_sector_t

Adopt c-style convention.

SickToolbox::SickLD::sick_ld_identity_t

Adopt c-style convention.

SickToolbox::SickLD::sick_ld_scan_profile_t

Adopt c-style convention.

SickToolbox::SickLD::sick_ld_sector_data_t

Adopt c-style convention.

Constructor & Destructor Documentation

SickToolbox::SickLD::SickLD	(	const std::string	sick_ip_address = `DEFAULT_SICK_IP_ADDRESS`,
		const uint16_t	sick_tcp_port = `DEFAULT_SICK_TCP_PORT`
	)

A standard constructor.

Primary constructor

Parameters:

sick_ip_address	The ip address of the Sick LD
sick_tcp_port	The TCP port associated w/ the Sick LD server

Definition at line 51 of file SickLD.cc.

SickToolbox::SickLD::~SickLD ( )

Destructor

A standard destructor

Definition at line 86 of file SickLD.cc.

Member Function Documentation

uint16_t SickToolbox::SickLD::_angleToTicks ( const double angle ) const [private]

Converts encoder ticks to equivalent angle representation.

Converts angle to an equivalent representation in odometer ticks

Parameters:

ticks The tick value to be converted

Returns:: The corresponding ticks value

NOTE: This function assumes that the angle value it receives is a multiple of 1/16 degree (which is the resolution of the encoder)

Definition at line 4288 of file SickLD.cc.

void SickToolbox::SickLD::_cancelSickScanProfiles ( ) throw ( SickErrorException, SickTimeoutException, SickIOException ) [private]

Kills the current data stream.

Cancels the active data stream

Definition at line 2687 of file SickLD.cc.

double SickToolbox::SickLD::_computeMaxPulseFrequency	(	const double	total_scan_area,
		const double	curr_motor_speed,
		const double	curr_angular_resolution
	)		const `[private]`

Compute the mean pulse frequency (see page 22 of the operator's manual)

Computes the total pulse frequency for the given config

Parameters:

active_scan_area	The total scan area that can be covered by the Sick
curr_motor_speed	The current motor speed (in Hz)
curr_angular_resolution	The current angular resolution of the Sick (in deg)

Returns:: The maximum pulse frequency for the given configuration parameters

Definition at line 4312 of file SickLD.cc.

double SickToolbox::SickLD::_computeMeanPulseFrequency	(	const double	active_scan_area,
		const double	curr_motor_speed,
		const double	curr_angular_resolution
	)		const `[private]`

Compute the mean pulse frequency (see page 22 of the operator's manual)

Computes the mean pulse frequency for the given config

Parameters:

active_scan_area	The total area where the Sick is actively scanning (in deg) (i.e. total area where the laser isn't blanked)
curr_motor_speed	The current motor speed (in Hz)
curr_angular_resolution	The current angular resolution of the Sick (in deg)

Returns:: The mean pulse frequency for the given configuration parameters

Definition at line 4299 of file SickLD.cc.

double SickToolbox::SickLD::_computeScanArea	(	const double	sick_angle_step,
		const double *const	active_sector_start_angles,
		const double *const	active_sector_stop_angles,
		const unsigned int	num_active_sectors
	)		const `[private]`

Computes the active scan area for the Sick given the current sector configuration.

Returns the scanning area for the device given the current sector configuration

Parameters:

sick_angle_step	The angular resolution of the Sick LD
active_sector_start_angles	The start angles for the active scan sectors
active_sector_stop_angles	The stop angles for the active scan sectors
num_active_sectors	The number of active sectors

Returns:: The Sick LD scan area corresponding to the given bounds

NOTE: The Sick LD computes scan area by subtracting the end of the previous sector from the end of the current sector. As such, we have to add a single step angle to our computation in order to get the scan area that is used by the Sick LD. Unfortunately, this is how the device does its computation (as opposed to using the angle at which the first scan in the given sector is taken) so this is how we do it.

Definition at line 4444 of file SickLD.cc.

void SickToolbox::SickLD::_flushTCPRecvBuffer ( ) throw ( SickIOException, SickThreadException ) [private]

Flushes TCP receive buffer contents.

Flushed the TCP receive buffer

Definition at line 4120 of file SickLD.cc.

void SickToolbox::SickLD::_generateSickSectorConfig	(	const double *const	active_sector_start_angles,
		const double *const	active_sector_stop_angles,
		const unsigned int	num_active_sectors,
		const double	sick_angle_step,
		unsigned int *const	sector_functions,
		double *const	sector_stop_angles,
		unsigned int &	num_sectors
	)		const `[private]`

Generates a device-ready sector set given only an active sector spec.

Parameters:

*active_sector_start_angles	Start angles for the active (measuring) sectors
*active_sector_stop_angles	Stop angles for the active sectors
num_active_sectors	The number of active sectors given
sick_angle_step	The step angle (angular resolution) to be used in generating the config
*sector_functions	An output buffer to hold the function assigned to each sector
*sector_stop_angles	An output buffer to hold the stop angles associated w/ the generated sector set
&num_sectors	The number of sectors in the final device-ready configuration

Definition at line 4187 of file SickLD.cc.

void SickToolbox::SickLD::_getApplicationSoftwareName ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get application software name.

Query the Sick for the application name

Definition at line 3721 of file SickLD.cc.

void SickToolbox::SickLD::_getApplicationSoftwarePartNumber ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get application software part number.

Query the part number of the application software

Definition at line 3691 of file SickLD.cc.

void SickToolbox::SickLD::_getApplicationSoftwareVersion ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get application software part number.

Query the Sick for the application software version

Definition at line 3751 of file SickLD.cc.

void SickToolbox::SickLD::_getFirmwareName ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get firmware name.

Query the Sick for the name of its firmware

Definition at line 3631 of file SickLD.cc.

void SickToolbox::SickLD::_getFirmwarePartNumber ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get firmware part number.

Query the Sick for the part number of its firmware

Definition at line 3601 of file SickLD.cc.

void SickToolbox::SickLD::_getFirmwareVersion ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get firmware version number.

Query the Sick for the version of the firmware

Definition at line 3661 of file SickLD.cc.

void SickToolbox::SickLD::_getIdentificationString	(	const uint8_t	id_request_code,
		std::string &	id_return_string
	)		throw ( SickTimeoutException, SickIOException ) `[private]`

Query the Sick LD for a particular ID string.

Query the Sick for ID information

Parameters:

id_request_code	The code indicating what ID string is being requested.
&id_return_string	A reference to hold the string returned from the Sick LD.x

Definition at line 3395 of file SickLD.cc.

void SickToolbox::SickLD::_getSensorEDMSerialNumber ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get sensor EDM serial number.

Query the Sick for its EDM unit's serial number

Definition at line 3571 of file SickLD.cc.

void SickToolbox::SickLD::_getSensorName ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get the Sick LD's assigned sensor name.

Query the Sick for its assigned name

Definition at line 3479 of file SickLD.cc.

void SickToolbox::SickLD::_getSensorPartNumber ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get the Sick LD's part number.

Query the Sick for its sensor part number

Definition at line 3448 of file SickLD.cc.

void SickToolbox::SickLD::_getSensorSerialNumber ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get the Sick LD's serial number.

Query the Sick for its serial number

Definition at line 3541 of file SickLD.cc.

void SickToolbox::SickLD::_getSensorVersion ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get the Sick LD's sensor version.

Query the Sick for its version number

Definition at line 3510 of file SickLD.cc.

void SickToolbox::SickLD::_getSickEthernetConfig ( ) throw ( SickErrorException, SickTimeoutException, SickIOException ) [private]

Get the Sick LD's Ethernet configuration.

Query the Sick for its Ethernet configuration parameters

Definition at line 3192 of file SickLD.cc.

void SickToolbox::SickLD::_getSickGlobalConfig ( ) throw ( SickErrorException, SickTimeoutException, SickIOException ) [private]

Get the global configuration of the Sick LD.

Query the Sick for its global configuration parameters

Definition at line 3088 of file SickLD.cc.

void SickToolbox::SickLD::_getSickIdentity ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get the parameters that define the Sick LD's identity.

Stores an image of the Sick LD's identity locally

Definition at line 2885 of file SickLD.cc.

void SickToolbox::SickLD::_getSickScanProfiles	(	const uint16_t	profile_format,
		const uint16_t	num_profiles = `DEFAULT_SICK_NUM_SCAN_PROFILES`
	)		throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ) `[private]`

Request n scan profiles from the Sick LD unit.

Requests n range measurement profiles from the Sick LD

Parameters:

profile_format	The format for the requested scan profiles
num_profiles	The number of profiles to request from Sick LD. (Default: 0) (NOTE: When num_profiles = 0, the Sick LD continuously streams profile data)

Definition at line 2389 of file SickLD.cc.

void SickToolbox::SickLD::_getSickSectorConfig ( ) throw ( SickErrorException, SickTimeoutException, SickIOException ) [private]

Query the Sick for its current sector configuration.

Acquires the configuration (function and stop angle) for each sector

NOTE: Here we only buffer the sector stop angle as this is the only value returned by the GET_FUNCTION command. Using the stop angle does not give enough information to extract the start angle of sectors that aren't "normal measurement".

Definition at line 3318 of file SickLD.cc.

void SickToolbox::SickLD::_getSickSectorFunction	(	const uint8_t	sector_num,
		uint8_t &	sector_function,
		double &	sector_stop_angle
	)		throw ( SickErrorException, SickTimeoutException, SickIOException ) `[private]`

Acquires the function of the given sector.

Acquires the given Sector's function (i.e. current config)

Parameters:

sector_num	The target sector number
&sector_config	The configuration word returned by the Sick LD
&sector_stop	The stop angle of the given sector

Definition at line 2016 of file SickLD.cc.

void SickToolbox::SickLD::_getSickStatus ( ) throw ( SickTimeoutException, SickIOException ) [private]

Get the status of the Sick LD.

Query the Sick for its sensor and motor status

Definition at line 2927 of file SickLD.cc.

void SickToolbox::SickLD::_parseScanProfile	(	uint8_t *const	src_buffer,
		sick_ld_scan_profile_t &	profile_data
	)		const `[private]`

Parses a well-formed sequence of bytes into a corresponding scan profile.

Parses a sequence of bytes and populates the profile_data struct w/ the results

Parameters:

*src_buffer	The source data buffer
&profile_data	The destination data structure

Definition at line 2520 of file SickLD.cc.

void SickToolbox::SickLD::_printInitFooter ( ) const [private]

Prints the initialization footer.

Prints the initialization footer

Definition at line 4750 of file SickLD.cc.

void SickToolbox::SickLD::_printSectorProfileData ( const sick_ld_sector_data_t & sector_data ) const [private]

Print data corresponding to the referenced sector data structure.

Prints data corresponding to a single scan sector (data obtained using GET_PROFILE)

Parameters:

&sector_data The sector configuration to be printed

Definition at line 4557 of file SickLD.cc.

void SickToolbox::SickLD::_printSickScanProfile	(	const sick_ld_scan_profile_t	profile_data,
		const bool	print_sector_data = `true`
	)		const `[private]`

Prints data fields of the given scan profile.

Prints the data corresponding to the given scan profile (for debugging purposes)

Parameters:

profile_data	The scan profile to be printed.
print_sector_data	Indicates whether to print the sector data fields associated with the given profile.

Definition at line 4576 of file SickLD.cc.

void SickToolbox::SickLD::_sendMessageAndGetReply	(	const SickLDMessage &	send_message,
		SickLDMessage &	recv_message,
		const unsigned int	timeout_value = `DEFAULT_SICK_MESSAGE_TIMEOUT`
	)		throw ( SickIOException, SickTimeoutException ) `[private]`

Send a message to the Sick LD and get its reply.

Send a message, get the reply from the Sick LD and check it

Parameters:

&send_message	A reference to the well-formed message object that is to be sent.
&recv_message	The destination message object for the received reply.
timeout_value	The maximum time to allow for a response in seconds

NOTE: This method also verifies the correct reply to the given send_message object is received. So, if it fails, it may be due to an unexpected reply.

Definition at line 4083 of file SickLD.cc.

void SickToolbox::SickLD::_setSickFilter ( const uint8_t suppress_code ) throw ( SickErrorException, SickTimeoutException, SickIOException ) [private]

Enables/disables nearfield suppression on the Sick LD.

Turns nearfield suppression on/off

Parameters:

suppress_code Code indicating whether to enable or diable the nearfield suppression

Definition at line 2790 of file SickLD.cc.

void SickToolbox::SickLD::_setSickGlobalConfig	(	const uint8_t	sick_sensor_id,
		const uint8_t	sick_motor_speed,
		const double	sick_angle_step
	)		throw ( SickErrorException, SickTimeoutException, SickIOException ) `[private]`

Sets the Sick LD's global parameters (sensor id, motor speed, and angular step) in flash.

Sets the Sick LD's global configuration (in flash)

Parameters:

sick_sensor_id	The sensor id to be assigned to the unit.
sick_motor_speed	The speed of the motor in Hz (must be in [5,20])
sick_angular_step	The difference between two laser pulses in 1/16 degrees (e.g. sick_angular_step = 4 => 0.25 deg step). Also, this value must evenly divide into 5760 and be greater than 1 (see telegram listing page 21).

ALERT: This method writes the parameters to the Sick LD's flash, so there is no need to use it except when configuring the device.

ALERT: This method DOES NOT DO ERROR CHECKING on the given parameter values. It is the responsibility of the caller function to do error checking beforehand.

Definition at line 2988 of file SickLD.cc.

void SickToolbox::SickLD::_setSickGlobalParamsAndScanAreas	(	const unsigned int	sick_motor_speed,
		const double	sick_angle_step,
		const double *const	active_sector_start_angles,
		const double *const	active_sector_stop_angles,
		const unsigned int	num_active_sectors
	)		throw ( SickTimeoutException, SickIOException, SickConfigException, SickErrorException ) `[private]`

Attempts to set the "permanent" (by writing flash) operating values for the device.

Allows setting the global parameters and scan area definition (in flash)

Parameters:

sick_motor_speed	Desired motor speed for the device (hz)
sick_angle_step	Desired scan angular resolution (deg)
active_sector_start_angles	Angles marking the beginning of each desired active sector/area
active_sector_stop_angles	Angles marking the end of each desired active sector/area
num_active_sectors	The number of active sectors

Definition at line 3786 of file SickLD.cc.

void SickToolbox::SickLD::_setSickSectorConfig	(	const unsigned int *const	sector_functions,
		const double *const	sector_stop_angles,
		const unsigned int	num_sectors,
		const bool	write_to_flash = `false`
	)		throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ) `[private]`

Sets the sector configuration for the device.

Sets the sick sector configuration

Parameters:

sector_functions	Angles marking the beginning of each desired active sector/area
sector_stop_angles	Angles marking the end of each desired active sector/area
num_sectors	The total number of sectors in the configuration
set_flash_flag	Indicates whether to mark the sectors for writing to flash w/ the next SET_CONFIG (global)

Definition at line 3963 of file SickLD.cc.

void SickToolbox::SickLD::_setSickSectorFunction	(	const uint8_t	sector_number,
		const uint8_t	sector_function,
		const double	sector_stop_angle,
		const bool	write_to_flash = `false`
	)		throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ) `[private]`

Sets the function for a particular scan sector.

Set the function for a particular scan secto

Parameters:

sector_number	The number of the sector (should be in [0,7])
sector_function	The function of the sector (e.g. no measurement, reserved, normal measurement, ...)
sector_stop_angle	The last angle of the sector (in odometer ticks)
write_to_flash	Indicates whether the sector configuration should be written to flash

Definition at line 1890 of file SickLD.cc.

void SickToolbox::SickLD::_setSickSensorMode ( const uint8_t new_sick_sensor_mode ) throw ( SickErrorException, SickTimeoutException, SickIOException ) [private]

Sets the Sick LD to the requested sensor mode.

Sets the Sick LD's sensor mode to IDLE (laser off, motor off)

Parameters:

new_sick_sensor_mode The desired sensor mode

Definition at line 2250 of file SickLD.cc.

void SickToolbox::SickLD::_setSickSensorModeToIdle ( ) throw ( SickErrorException, SickTimeoutException, SickIOException ) [private]

Sets the Sick LD sensor mode to IDLE.

Sets the Sick LD to IDLE mode

Definition at line 2120 of file SickLD.cc.

void SickToolbox::SickLD::_setSickSensorModeToMeasure ( ) throw ( SickErrorException, SickTimeoutException, SickIOException ) [private]

Sets the Sick LD sensor mode to ROTATE.

Sets the Sick LD to MEASURE mode

Definition at line 2206 of file SickLD.cc.

void SickToolbox::SickLD::_setSickSensorModeToRotate ( ) throw ( SickErrorException, SickTimeoutException, SickIOException ) [private]

Sets the Sick LD sensor mode to ROTATE.

Sets the Sick LD to ROTATE mode

Definition at line 2163 of file SickLD.cc.

void SickToolbox::SickLD::_setSickSignals ( const uint8_t sick_signal_flags = DEFAULT_SICK_SIGNAL_SET ) throw ( SickIOException, SickTimeoutException, SickErrorException ) [private]

Sets the Sick LEDs and switching outputs.

Sets the signals for the device

Parameters:

sick_signal_flags Flags indicating which LEDs and SWITCHES to activate

NOTE: This method does not preserve the previous state of the Sick's signals. In other words, only the signals flagged in sick_signal_flags will be set - all others will be off!

Definition at line 4023 of file SickLD.cc.

void SickToolbox::SickLD::_setSickTemporaryScanAreas	(	const double *const	active_sector_start_angles,
		const double *const	active_sector_stop_angles,
		const unsigned int	num_active_sectors
	)		throw ( SickTimeoutException, SickIOException, SickConfigException ) `[private]`

Attempts to set the "temporary" (until a device reset) scan area config for the device.

Allows setting a temporary (until a device reset) sector configuration on the device

Parameters:

active_sector_start_angles	Angles marking the beginning of each desired active sector/area
active_sector_stop_angles	Angles marking the end of each desired active sector/area
num_active_sectors	The number of active sectors

Definition at line 3885 of file SickLD.cc.

void SickToolbox::SickLD::_setupConnection ( ) throw ( SickIOException, SickTimeoutException ) [private, virtual]

Establish a TCP connection to the unit.

Setup the connection parameters and establish TCP connection!

Implements SickToolbox::SickLIDAR< SickLDBufferMonitor, SickLDMessage >.

Definition at line 1732 of file SickLD.cc.

std::string SickToolbox::SickLD::_sickMotorModeToString ( const uint8_t sick_motor_mode ) const [private]

Converts the Sick LD numerical motor mode to a representative string.

Converts _sick_motor_mode to a representative string

Parameters:

sick_motor_mode The sick motor mode code to be converted

Returns:: The corresponding string

Definition at line 4643 of file SickLD.cc.

std::string SickToolbox::SickLD::_sickProfileFormatToString ( const uint16_t profile_format ) const [private]

Converts the Sick LD numerical motor mode to a representative string.

Converts a given scan profile format to a string for friendlier output

Parameters:

profile_format The profile format to be converted

Returns:: The corresponding string

Definition at line 4734 of file SickLD.cc.

std::string SickToolbox::SickLD::_sickResetLevelToString ( const uint16_t reset_level ) const [private]

Converts the Sick LD numerical reset level to a representative string.

Converts the specified reset level to a representative string

Parameters:

The	numeric reset level code

Returns:: The corresponding string

Definition at line 4690 of file SickLD.cc.

std::string SickToolbox::SickLD::_sickSectorFunctionToString ( const uint16_t sick_sector_function ) const [private]

Converts the Sick LD numerical sector config to a representative string.

Converts Sick LD sector configuration word to a representative string

Parameters:

sick_sector_function The numeric sector function to be converted

Returns:: The corresponding string

Definition at line 4710 of file SickLD.cc.

std::string SickToolbox::SickLD::_sickSensorModeToString ( const uint8_t sick_sensor_mode ) const [private]

Converts the Sick LD numerical sensor mode to a representative string.

Converts _sick_sensor_mode to a representative string

Parameters:

sick_sensor_mode The sensor mode to be converted

Returns:: The corresponding sensor_mode string

Definition at line 4620 of file SickLD.cc.

uint8_t SickToolbox::SickLD::_sickSensorModeToWorkServiceSubcode ( const uint8_t sick_sensor_mode ) const [private]

Map Sick LD sensor modes to their equivalent service subcode representations.

Returns the corresponding work service subcode required to transition the Sick LD to the given sensor mode.

Parameters:

sick_sensor_mode The sensor mode to be converted

Returns:: The corresponding work service subcode

Definition at line 4600 of file SickLD.cc.

std::string SickToolbox::SickLD::_sickTransMeasureReturnToString ( const uint8_t return_value ) const [private]

Converts return value from TRANS_MEASURE to a representative string.

Converts the specified trans measurement mode return value to a string

Parameters:

return_value The TRANS_MEASURE numeric return code

Returns:: The corresponding string

Definition at line 4666 of file SickLD.cc.

void SickToolbox::SickLD::_sortScanAreas	(	double *const	sector_start_angles,
		double *const	sector_stop_angles,
		const unsigned int	num_sectors
	)		const `[private]`

Sort the scan areas based on the given angles to place them in device "scan" order.

Reorders given sector angle sets

Parameters:

sector_start_angles	Array of angles (deg) defining the starting position of each active sector
sector_stop_angles	Array of angles (deg) defining the stopping position of each active sector
num_active_sectors	Number of active sectors

Definition at line 4472 of file SickLD.cc.

bool SickToolbox::SickLD::_supportedScanProfileFormat ( const uint16_t profile_format ) const [private]

Check that the given profile format is supported by the current driver version.

Indicates whether the supplied profile format is currently supported by the driver

Parameters:

profile_format The requested profile format.

Returns:: True if the given scan profile is supported by the driver

Definition at line 4540 of file SickLD.cc.

void SickToolbox::SickLD::_syncDriverWithSick ( ) throw ( SickIOException, SickTimeoutException, SickErrorException ) [private]

Synchronizes buffer driver parameters with those of the Sick LD.

Synchronizes the driver state with the Sick LD (used for initialization)

Todo:: Add support in this method for acquiring RS-232/RS-422, and CAN configurations

Definition at line 1841 of file SickLD.cc.

void SickToolbox::SickLD::_teardownConnection ( ) throw ( SickIOException ) [private, virtual]

Teardown TCP connection to Sick LD.

Teardown the connection to the Sick LD

Implements SickToolbox::SickLIDAR< SickLDBufferMonitor, SickLDMessage >.

Definition at line 4168 of file SickLD.cc.

double SickToolbox::SickLD::_ticksToAngle ( const uint16_t ticks ) const [private]

Converts encoder ticks to equivalent angle representation.

Converts odometry ticks to an equivalent angle

Parameters:

ticks The tick value to be converted

Returns:: The corresponding angle value

Definition at line 4275 of file SickLD.cc.

bool SickToolbox::SickLD::_validActiveSectors	(	const double *const	sector_start_angles,
		const double *const	sector_stop_angles,
		const unsigned int	num_sectors
	)		const `[private]`

Determines wheter a given set of sector bounds are valid.

Checks the given sector arguments for overlapping regions yielding an invalid configuration

Parameters:

sector_start_angles	Array of angles (deg) defining the starting position of each active sector
sector_stop_angles	Array of angles (deg) defining the stopping position of each active sector
num_active_sectors	Number of active sectors

Definition at line 4496 of file SickLD.cc.

bool SickToolbox::SickLD::_validPulseFrequency	(	const unsigned int	sick_motor_speed,
		const double	sick_angle_step
	)		const `[private]`

Checks whether the given configuration yields a valid mean and max pulse frequency (uses current sector config)

Indicates whether the given configuration yields a valid max and mean pulse frequency

Parameters:

sick_motor_speed	Desired sick motor speed (Hz)
sick_angle_step	Desired scan angular resolution (deg)

Definition at line 4383 of file SickLD.cc.

bool SickToolbox::SickLD::_validPulseFrequency	(	const unsigned int	sick_motor_speed,
		const double	sick_angle_step,
		const double *const	active_sector_start_angles,
		const double *const	active_sector_stop_angles,
		const unsigned int	num_active_sectors
	)		const `[private]`

Checks whether the given configuration yields a valid mean and max pulse frequency (uses given sector config)

Indicates whether the given configuration yields a valid max and mean pulse frequency

Parameters:

sick_motor_speed	Desired sick motor speed (Hz)
sick_angle_step	Desired scan angular resolution (deg)
active_sector_start_angles	Angles marking the beginning of each desired active sector/area
active_sector_stop_angles	Angles marking the end of each desired active sector/area
num_active_sectors	The number of active sectors/scan areas are given

Definition at line 4403 of file SickLD.cc.

bool SickToolbox::SickLD::_validSickMotorSpeed ( const unsigned int sick_motor_speed ) const [private]

Checks whether the given sick motor speed is valid for the device.

Indicates whether a given motor speed is valid for the device

Parameters:

sick_motor_speed The sick motor speed (Hz)

Definition at line 4337 of file SickLD.cc.

bool SickToolbox::SickLD::_validSickScanResolution	(	const double	sick_angle_step,
		const double *const	sector_start_angles,
		const double *const	sector_stop_angles,
		const unsigned int	num_sectors
	)		const `[private]`

Checks whether the given scan resolution is valid.

Indicates whether a given motor speed is valid for the device

Parameters:

sick_scan_resolution	Scan resolution of the device
sector_start_angles	An array of the sector start angles
sector_stop_angles	An array of the sector stop angles

Definition at line 4354 of file SickLD.cc.

bool SickToolbox::SickLD::_validSickSensorID ( const unsigned int sick_sensor_id ) const [private]

Checks whether the given senor id is valid for the device.

Indicates whether a given sensor ID is valid for the device

Parameters:

sick_sensor_id Sick sensor ID

Definition at line 4322 of file SickLD.cc.

void SickToolbox::SickLD::DisableNearfieldSuppression ( ) throw ( SickErrorException, SickTimeoutException, SickIOException )

Disables nearfield suppressive filtering.

Disables nearfield suppressive filtering (in flash)

NOTE: This method writes this option to the Sick LD's flash, so there is no need to use it except when configuring the device.

Definition at line 668 of file SickLD.cc.

void SickToolbox::SickLD::EnableNearfieldSuppression ( ) throw ( SickErrorException, SickTimeoutException, SickIOException )

Enables nearfield suppressive filtering.

Enables nearfield suppressive filtering (in flash)

NOTE: This method writes this option to the Sick LD's flash, so there is no need to use it except when configuring the device.

Definition at line 619 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickAppSoftwareName ( ) const

Acquire the Sick LD's application software name.

Acquire the Sick LD's application software name

Returns:: The Sick LD application software name

Definition at line 1484 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickAppSoftwarePartNumber ( ) const

Acquire the Sick LD's application software part number.

Acquire the Sick LD's application software part number

Returns:: The Sick LD application software part number

Definition at line 1476 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickAppSoftwareVersionNumber ( ) const

Acquire the Sick LD's application software version number.

Acquire the Sick LD's application software version number

Returns:: The Sick LD application software version number

Definition at line 1492 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickEDMSerialNumber ( ) const

Acquire the Sick LD's EDM serial number.

Acquire the Sick LD's EDM serial number

Returns:: The Sick LD EDM serial number

Definition at line 1444 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickEthernetConfigAsString ( ) const

Acquire the Sick LD's global config as a printable string.

Acquire the Sick LD's Ethernet config as a printable string

Returns:: The Sick LD Ethernet config as a well-formatted string

Definition at line 1561 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickFirmwareName ( ) const

Acquire the Sick LD's firmware number.

Acquire the Sick LD's firmware number

Returns:: The Sick LD firmware name

Definition at line 1460 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickFirmwarePartNumber ( ) const

Acquire the Sick LD's firmware part number.

Acquire the Sick LD's firmware part number

Returns:: The Sick LD firmware part number

Definition at line 1452 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickFirmwareVersion ( ) const

Acquire the Sick LD's firmware version.

Acquire the Sick LD's firmware version

Returns:: The Sick LD firmware version

Definition at line 1468 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickGatewayIPAddress ( ) const

Acquire the IP address of the Sick gateway.

Acquire the IP address of the Sick gateway

Returns:: The Sick LD gateway IP address

Definition at line 1393 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickGlobalConfigAsString ( ) const

Acquire the Sick LD's global config as a printable string.

Acquire the Sick LD's global config as a printable string

Returns:: The Sick LD global config as a well-formatted string

Definition at line 1543 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickIdentityAsString ( ) const

Acquire the Sick LD's identity as a printable string.

Acquire the Sick LD's identity as a printable string

Returns:: The Sick LD identity as a well-formatted string

Definition at line 1517 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickIPAddress ( ) const

Acquire the current IP address of the Sick.

Acquire the current IP address of the Sick

Returns:: The Sick LD IP (Inet4) address

Definition at line 1355 of file SickLD.cc.

void SickToolbox::SickLD::GetSickMeasurements	(	double *const	range_measurements,
		unsigned int *const	echo_measurements = `NULL`,
		unsigned int *const	num_measurements = `NULL`,
		unsigned int *const	sector_ids = `NULL`,
		unsigned int *const	sector_data_offsets = `NULL`,
		double *const	sector_step_angles = `NULL`,
		double *const	sector_start_angles = `NULL`,
		double *const	sector_stop_angles = `NULL`,
		unsigned int *const	sector_start_timestamps = `NULL`,
		unsigned int *const	sector_stop_timestamps = `NULL`
	)		throw ( SickErrorException, SickIOException, SickTimeoutException, SickConfigException )

Acquires measurements and corresponding sector data from the Sick LD.

Acquires measurements and related data for all active sectors

Parameters:

*range_measurements	A single array to hold ALL RANGE MEASUREMENTS from the current scan for all active sectors. Range values from each sector are stored block sequentially in this buffer. The respective index into the array marking the first data value returned by active sector i can be found by getting: range_measurement[sector_data_offsets[i]].
*echo_measurements	A single array to hold ALL ECHO MEASUREMENTS from the current scan for all active sectors. It is indexed the same as range_measurements. This argument is optional and if it is not provided the driver will request a RANGE ONLY data stream as opposed to a RANGE+ECHO thereby reducing consumed bandwidth (Default: NULL).
*num_measurements	An array where the ith element denotes the number of range/echo measurements obtained from active sector i (Default: NULL).
*sector_ids	An array where the ith element corresponds to the actual sector number/id of the ith active sector. (Default: NULL)
*sector_data_offsets	The index offsets mapping the ith active sector to the position in range_measurements where its first measured value can be found (Default: NULL).
*sector_step_angles	An array where the ith element corresponds to the angle step for the ith active sector. (Default: NULL)
*sector_start_angles	An array where the ith element corresponds to the starting scan angle of the ith active sector.
*sector_stop_angles	An array where the ith element corresponds to the stop scan angle of the ith active sector.
*sector_start_timestamps	An array where the ith element denotes the time at which the first scan was taken for the ith active sector.
*sector_stop_timestamps	An array where the ith element denotes the time at which the last scan was taken for the ith active sector.

ALERT: The user is responsible for ensuring that enough space is allocated for the return buffers to avoid overflow. See the example code for an easy way to do this.

Definition at line 740 of file SickLD.cc.

unsigned int SickToolbox::SickLD::GetSickMotorSpeed ( ) const

Acquire the Sick LD's current motor speed in Hz.

Acquire the Sick LD's current motor speed in Hz

Returns:: The Sick LD motor speed

Definition at line 1339 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickName ( ) const

Acquire the Sick LD's name.

Acquire the Sick LD's name

Returns:: The Sick LD sensor name

Definition at line 1420 of file SickLD.cc.

unsigned int SickToolbox::SickLD::GetSickNumActiveSectors ( ) const

Acquire the number of sectors that are measuring.

Returns the number of active/measuring sectors

Returns:: The number of sectors currently measuring

Definition at line 1323 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickPartNumber ( ) const

Acquire the Sick LD's part number.

Acquire the Sick LD's part number

Returns:: The Sick LD part number

Definition at line 1412 of file SickLD.cc.

double SickToolbox::SickLD::GetSickScanArea ( ) const

Computes the active area over all measuring sectors.

Acquire the total scan area (in degrees) being scanned by the Sick LD

Returns:: The Sick LD active scan area

Definition at line 1605 of file SickLD.cc.

double SickToolbox::SickLD::GetSickScanResolution ( ) const

Acquire the Sick LD's current scan resolution.

Acquire the Sick LD's current scan resolution

Returns:: The Sick LD scan resolution

Definition at line 1347 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickSectorConfigAsString ( ) const

Acquire the Sick LD's sector config as a printable string.

Acquire the Sick LD's sector config as a printable string

Returns:: The Sick LD Sick LD's config as a well-formatted string

Definition at line 1579 of file SickLD.cc.

unsigned int SickToolbox::SickLD::GetSickSensorID ( ) const

Acquire the Sick LD's sensor ID.

Acquire the Sick LD's sensor ID

Returns:: The Sick LD sensor ID

Definition at line 1331 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickSerialNumber ( ) const

Acquire the Sick LD's serial number.

Acquire the Sick LD's serial number

Returns:: The Sick LD serial number

Definition at line 1436 of file SickLD.cc.

void SickToolbox::SickLD::GetSickSignals ( uint8_t & sick_signal_flags ) throw ( SickIOException, SickTimeoutException )

Gets the Sick LD signal LED's and switching outputs.

Query the Sick for its current signal settings

Parameters:

&sick_signal_flags The destination buffer to hold the returned flags.

Definition at line 497 of file SickLD.cc.

void SickToolbox::SickLD::GetSickStatus	(	unsigned int &	sick_sensor_mode,
		unsigned int &	sick_motor_mode
	)		throw ( SickIOException, SickTimeoutException )

Acquires the status of the Sick from the device.

Gets the sensor and motor mode of the unit

Parameters:

&sick_sensor_mode	The returned sensor mode of the device
&sick_motor_mode	The returned motor mode of the device

Definition at line 146 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickStatusAsString ( ) const

Acquire the Sick LD's status as a printable string.

Acquire the Sick LD's status as a printable string

Returns:: The Sick LD status as a well-formatted string

Definition at line 1500 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickSubnetMask ( ) const

Acquire the subnet mask for the Sick.

Acquire the subnet mask for the Sick

Returns:: The Sick LD subnet mask

Definition at line 1374 of file SickLD.cc.

void SickToolbox::SickLD::GetSickTime ( uint16_t & sick_time ) throw ( SickIOException, SickTimeoutException, SickErrorException )

Gets the internal clock time of the Sick LD unit.

Gets the internal clock time of the Sick LD unit

Parameters:

&sick_time The sick clock time in milliseconds.

Definition at line 557 of file SickLD.cc.

std::string SickToolbox::SickLD::GetSickVersion ( ) const

Acquire the Sick LD's version number.

Acquire the Sick LD's version number

Returns:: The Sick LD version number

Definition at line 1428 of file SickLD.cc.

void SickToolbox::SickLD::Initialize ( ) throw ( SickIOException, SickThreadException, SickTimeoutException, SickErrorException )

Initializes the driver and syncs it with Sick LD unit. Uses sector config given in flash.

Initializes the Sick LD unit (use scan areas defined in flash)

Definition at line 91 of file SickLD.cc.

void SickToolbox::SickLD::PrintSickEthernetConfig ( ) const

Print the Sick LD's Ethernet configuration.

Prints the Ethernet configuration parameter values

Definition at line 1645 of file SickLD.cc.

void SickToolbox::SickLD::PrintSickGlobalConfig ( ) const

Print the Sick LD's global configuration.

Prints the global configuration parameter values

Definition at line 1638 of file SickLD.cc.

void SickToolbox::SickLD::PrintSickIdentity ( ) const

Print the parameters comprising the Sick LD's identity.

Prints the Sick LD's identity information

Definition at line 1631 of file SickLD.cc.

void SickToolbox::SickLD::PrintSickSectorConfig ( ) const

Print the Sick LD's sector configuration.

Prints the Sick Sector configuration

Definition at line 1652 of file SickLD.cc.

void SickToolbox::SickLD::PrintSickStatus ( ) const

Print the status of the Sick LD.

Prints the Sick LD's status information

Definition at line 1624 of file SickLD.cc.

void SickToolbox::SickLD::ResetSick ( const unsigned int reset_level = SICK_WORK_SERV_RESET_INIT_CPU ) throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException )

Resets the device according to the given reset level.

Resets the Sick LD using the given reset level

Parameters:

reset_level The desired reset level (see page 33 of the telegram listing)

Definition at line 1252 of file SickLD.cc.

void SickToolbox::SickLD::SetSickGlobalParamsAndScanAreas	(	const unsigned int	sick_motor_speed,
		const double	sick_angle_step,
		const double *const	active_sector_start_angles,
		const double *const	active_sector_stop_angles,
		const unsigned int	num_active_sectors
	)		throw ( SickTimeoutException, SickIOException, SickConfigException, SickErrorException )

Attempts to set the scan resolution and active sectors/scan areas for the device (in flash)

Attempts to set the global params and the active scan sectors for the device (in flash)

Parameters:

sick_motor_speed	Desired sick motor speed (Hz)
sick_angle_step	Desired scan angular resolution (deg)
active_sector_start_angles	Angles marking the beginning of each desired active sector/area
active_sector_stop_angles	Angles marking the end of each desired active sector/area
num_active_sectors	The number of active sectors/scan areas are given

Definition at line 1140 of file SickLD.cc.

void SickToolbox::SickLD::SetSickMotorSpeed ( const unsigned int sick_motor_speed ) throw ( SickErrorException, SickTimeoutException, SickIOException )

Attempts to set a new motor speed for the device (in flash)

Parameters:

sick_motor_speed The desired motor speed (Hz)

Definition at line 1040 of file SickLD.cc.

void SickToolbox::SickLD::SetSickScanAreas	(	const double *const	active_sector_start_angles,
		const double *const	active_sector_stop_angles,
		const unsigned int	num_active_sectors
	)		throw ( SickTimeoutException, SickIOException, SickConfigException, SickErrorException )

Attempts to set the active scan areas for the device (in flash)

Attempts to set the active scan sectors for the device (in flash)

Parameters:

active_sector_start_angles	Angles marking the beginning of each desired active sector/area
active_sector_stop_angles	Angles marking the end of each desired active sector/area
num_active_sectors	The number of active sectors/scan areas are given

Definition at line 1198 of file SickLD.cc.

void SickToolbox::SickLD::SetSickScanResolution ( const double sick_angle_step ) throw ( SickTimeoutException, SickIOException, SickConfigException )

Attempts to set a new scan resolution for the device (in flash) while retaining the previously defined active scan areas.

Attempts to set a new scan resolution for the device (in flash)

Parameters:

sick_angle_step The desired scan resolution (deg)

NOTE: Since the Sick determines the active sector bounds based upon the current scan resolution and sector stop angles, it is possible that when the scan resolution is changed so too are the active sector bounds. As such, we also write the correct sector config to flash as opposed to letting the Sick LD just figure it out itself. Doing so ensures the previous active sector definitions remain intact.

Definition at line 1102 of file SickLD.cc.

void SickToolbox::SickLD::SetSickSensorID ( const unsigned int sick_sensor_id ) throw ( SickErrorException, SickTimeoutException, SickIOException )

Attempts to set a new sensor ID for the device (in flash)

Attempts to set a new senor ID for the device (in flash)

Parameters:

sick_sensor_id The desired sensor ID

Definition at line 991 of file SickLD.cc.

void SickToolbox::SickLD::SetSickSignals ( const uint8_t sick_signal_flags = DEFAULT_SICK_SIGNAL_SET ) throw ( SickIOException, SickTimeoutException, SickErrorException )

Sets the Sick LD signal LED's and switching outputs.

Sets the signal LEDs and switches

Parameters:

sick_signal_flags Indicates the LEDs and switches to set/unset.

NOTE: This method does not preserve the previous state of the Sick's signals. In other words, only the signals flagged in sick_signal_flags will be set - all others will be off!

Definition at line 453 of file SickLD.cc.

void SickToolbox::SickLD::SetSickTempScanAreas	(	const double *	active_sector_start_angles,
		const double *const	active_sector_stop_angles,
		const unsigned int	num_active_sectors
	)		throw ( SickTimeoutException, SickIOException, SickConfigException )

Set the temporary scan areas for the Sick LD.

Sets the temporal scan configuration (until power is cycled)

Parameters:

*active_sector_start_angles	Angles marking the beginning of each desired active sector/area
*active_sector_stop_angles	Angles marking the end of each desired active sector/area
num_active_sectors	The number of active sectors

NOTE: The active scan areas set at this point are only maintained until a device reset occurs. In other words, they are not written to flash.

Definition at line 190 of file SickLD.cc.

void SickToolbox::SickLD::SetSickTimeAbsolute	(	const uint16_t	absolute_clock_time,
		uint16_t &	new_sick_clock_time
	)		throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException )

Set the absolute time of the Sick LD unit.

Sets the internal clock of the Sick LD unit

Parameters:

absolute_clock_time	The absolute clock time in milliseconds
new_sick_clock_time	The clock time in milliseconds returned from the device

ALERT: If the Sick LD is in MEASUREMENT mode, this method will first set the device to ROTATE mode after killing any active data streams (as per the protocol).

Definition at line 241 of file SickLD.cc.

void SickToolbox::SickLD::SetSickTimeRelative	(	const int16_t	delta_time,
		uint16_t &	new_sick_clock_time
	)		throw ( SickErrorException, SickTimeoutException, SickIOException, SickConfigException )

Set the relative time of the Sick LD unit.

Sets the internal clock of the Sick LD using the relative given time value

Parameters:

delta_time	The relative clock time in milliseconds.
&new_sick_clock_time	The new time as reported by the Sick LD.

ALERT: If the Sick LD is in MEASUREMENT mode, this method will first set the device to ROTATE mode after killing any active data streams (as per the protocol).

Definition at line 347 of file SickLD.cc.

void SickToolbox::SickLD::Uninitialize ( ) throw ( SickIOException, SickTimeoutException, SickErrorException, SickThreadException )

Tear down the connection between the host and the Sick LD.

Uninitializes the Sick LD unit

Definition at line 1659 of file SickLD.cc.

Member Data Documentation

sick_ld_config_ethernet_t SickToolbox::SickLD::_sick_ethernet_config [private]

The current Ethernet configuration for the unit

Definition at line 578 of file SickLD.hh.

sick_ld_config_global_t SickToolbox::SickLD::_sick_global_config [private]

The current global configuration for the unit

Definition at line 575 of file SickLD.hh.

sick_ld_identity_t SickToolbox::SickLD::_sick_identity [private]

The identity structure for the Sick

Definition at line 572 of file SickLD.hh.

struct sockaddr_in SickToolbox::SickLD::_sick_inet_address_info [private]

Sick LD socket address structure

Definition at line 557 of file SickLD.hh.

std::string SickToolbox::SickLD::_sick_ip_address [private]

The Sick LD IP address

Definition at line 548 of file SickLD.hh.

uint8_t SickToolbox::SickLD::_sick_motor_mode [private]

The mode of the motor

Definition at line 563 of file SickLD.hh.

sick_ld_config_sector_t SickToolbox::SickLD::_sick_sector_config [private]

The current sector configuration for the unit

Definition at line 581 of file SickLD.hh.

uint8_t SickToolbox::SickLD::_sick_sensor_mode [private]

The current sensor mode

Definition at line 560 of file SickLD.hh.

bool SickToolbox::SickLD::_sick_streaming_range_and_echo_data [private]

Indicates whether the Sick LD is currently streaming range and echo data

Definition at line 569 of file SickLD.hh.

bool SickToolbox::SickLD::_sick_streaming_range_data [private]

Indicates whether the Sick LD is currently streaming range data

Definition at line 566 of file SickLD.hh.

uint16_t SickToolbox::SickLD::_sick_tcp_port [private]

The Sick LD TCP port number

Definition at line 551 of file SickLD.hh.

unsigned int SickToolbox::SickLD::_socket [private]

Sick LD socket structure

Definition at line 554 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_KEY_CAN = 0x02 [static]

Key for configuring CAN.

Definition at line 176 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_KEY_ETHERNET = 0x05 [static]

Key for configuring Ethernet.

Definition at line 177 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_KEY_GLOBAL = 0x10 [static]

Key for global configuration.

Definition at line 178 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_KEY_RS232_RS422 = 0x01 [static]

Key for configuring RS-232/RS-422.

Definition at line 175 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SECTOR_NO_MEASUREMENT = 0x01 [static]

Sector has no measurements.

Definition at line 182 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SECTOR_NORMAL_MEASUREMENT = 0x03 [static]

Sector is returning measurements.

Definition at line 184 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SECTOR_NOT_INITIALIZED = 0x00 [static]

Sector is uninitialized.

Definition at line 181 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SECTOR_REFERENCE_MEASUREMENT = 0x04 [static]

Sector can be used as reference measurement.

Definition at line 185 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SECTOR_RESERVED = 0x02 [static]

Sector is reserved by Sick LD.

Definition at line 183 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_CODE = 0x02 [static]

Configuration service code.

Definition at line 91 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_GET_CONFIGURATION = 0x02 [static]

Read the Sick LD configuration information.

Definition at line 120 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_GET_FUNCTION = 0x0B [static]

Returns the configuration of the given sector.

Definition at line 126 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_GET_SYNC_CLOCK = 0x05 [static]

Read the internal time of the LD-OEM/LD-LRS.

Definition at line 123 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_SET_CONFIGURATION = 0x01 [static]

Set the Sick LD configuration.

Definition at line 119 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_SET_FILTER = 0x09 [static]

Set the filter configuration.

Definition at line 124 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_SET_FILTER_NEARFIELD = 0x01 [static]

Code for identifying filter type: nearfield suppression.

Definition at line 129 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_SET_FILTER_NEARFIELD_OFF = 0x00 [static]

Used to set nearfield suppression off.

Definition at line 132 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_SET_FILTER_NEARFIELD_ON = 0x01 [static]

Used to set nearfield suppression on.

Definition at line 133 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_SET_FUNCTION = 0x0A [static]

Assigns a measurement function to an angle range.

Definition at line 125 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_SET_TIME_ABSOLUTE = 0x03 [static]

Set the internal clock to a timestamp value.

Definition at line 121 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_CONF_SERV_SET_TIME_RELATIVE = 0x04 [static]

Correct the internal clock by some value.

Definition at line 122 of file SickLD.hh.

const double SickToolbox::SickLD::SICK_DEGREES_PER_MOTOR_STEP = 0.0625 [static]

Each odometer tick is equivalent to rotating the scan head this many degrees.

Definition at line 73 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_FILE_SERV_CODE = 0x07 [static]

File service code.

Definition at line 95 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_FILE_SERV_DELETE = 0x04 [static]

Deletes a file from the flash.

Definition at line 168 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_FILE_SERV_DIR = 0x01 [static]

List the stored files in flash memory.

Definition at line 165 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_FILE_SERV_LOAD = 0x03 [static]

Recalls a file from the flash.

Definition at line 167 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_FILE_SERV_SAVE = 0x02 [static]

Saves the data into flash memory.

Definition at line 166 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MAX_MEAN_PULSE_FREQUENCY = 10800 [static]

Max mean pulse frequence of the current device configuration (in Hz) (see page 22 of the operator's manual)

Definition at line 69 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MAX_MOTOR_SPEED = 20 [static]

Maximum motor speed in Hz.

Definition at line 66 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MAX_NUM_MEASUREMENTS = 2881 [static]

Maximum number of measurements per sector.

Definition at line 61 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MAX_NUM_MEASURING_SECTORS = 4 [static]

Maximum number of active/measuring scan sectors.

Definition at line 63 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MAX_NUM_SECTORS = 8 [static]

Maximum number of scan sectors (NOTE: This value must be even)

Definition at line 62 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MAX_PULSE_FREQUENCY = 14400 [static]

Max pulse frequency of the device (in Hz) (see page 22 of the operator's manual)

Definition at line 70 of file SickLD.hh.

const double SickToolbox::SickLD::SICK_MAX_SCAN_ANGULAR_RESOLUTION = 0.125 [static]

Minimum valid separation between laser pulses in active scan ares (deg)

Definition at line 72 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MAX_SCAN_AREA = 360 [static]

Maximum area that can be covered in a single scan (deg)

Definition at line 64 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MAX_VALID_SENSOR_ID = 254 [static]

The largest value the Sick will accept as a Sensor ID.

Definition at line 68 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MEAS_SERV_CANCEL_PROFILE = 0x02 [static]

Stops profile output.

Definition at line 137 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MEAS_SERV_CODE = 0x03 [static]

Measurement service code.

Definition at line 92 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MEAS_SERV_GET_PROFILE = 0x01 [static]

Requests n profiles of a defined format.

Definition at line 136 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MIN_MOTOR_SPEED = 5 [static]

Minimum motor speed in Hz.

Definition at line 65 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_MIN_VALID_SENSOR_ID = 1 [static]

The lowest value the Sick will accept as a Sensor ID.

Definition at line 67 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MONR_SERV_CODE = 0x08 [static]

Monitor service code.

Definition at line 96 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MONR_SERV_MONITOR_PROFILE_LOG = 0x02 [static]

Enable/disable profile logging.

Definition at line 172 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MONR_SERV_MONITOR_RUN = 0x01 [static]

Enable/disable monitor services.

Definition at line 171 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MOTOR_MODE_ERROR = 0x0B [static]

Motor stops or coder error.

Definition at line 86 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MOTOR_MODE_OK = 0x00 [static]

Motor is functioning properly.

Definition at line 83 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MOTOR_MODE_SPIN_TOO_HIGH = 0x09 [static]

Motor spin too low (i.e. rotational velocity too low)

Definition at line 84 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MOTOR_MODE_SPIN_TOO_LOW = 0x04 [static]

Motor spin too high (i.e. rotational velocity too fast)

Definition at line 85 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_MOTOR_MODE_UNKNOWN = 0xFF [static]

Motor is in an unknown state.

Definition at line 87 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_NUM_TICKS_PER_MOTOR_REV = 5760 [static]

Odometer ticks per revolution of the Sick LD scan head.

Definition at line 71 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_ROUT_SERV_CODE = 0x06 [static]

Routing service code.

Definition at line 94 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_ROUT_SERV_COM_ATTACH = 0x01 [static]

Attach a master (host) communications interface.

Definition at line 158 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_ROUT_SERV_COM_DATA = 0x05 [static]

Forward data received on specified interface to master interface.

Definition at line 162 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_ROUT_SERV_COM_DETACH = 0x02 [static]

Detach a master (host) communications interface.

Definition at line 159 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_ROUT_SERV_COM_INITIALIZE = 0x03 [static]

Initialize the interface (Note: using this may not be necessary for some interfaces, e.g. Ethernet)

Definition at line 160 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_ROUT_SERV_COM_OUTPUT = 0x04 [static]

Output data to the interface.

Definition at line 161 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_SCAN_PROFILE_RANGE = 0x39FF [static]

Request sector scan data w/o any echo data.

Definition at line 188 of file SickLD.hh.

const uint16_t SickToolbox::SickLD::SICK_SCAN_PROFILE_RANGE_AND_ECHO = 0x3DFF [static]

Request sector scan data w/ echo data.

Definition at line 212 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SENSOR_MODE_ERROR = 0x04 [static]

The Sick LD is in error mode.

Definition at line 79 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SENSOR_MODE_IDLE = 0x01 [static]

The Sick LD is powered but idle.

Definition at line 76 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SENSOR_MODE_MEASURE = 0x03 [static]

The Sick LD prism is rotating, and the laser is on.

Definition at line 78 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SENSOR_MODE_ROTATE = 0x02 [static]

The Sick LD prism is rotating, but laser is off.

Definition at line 77 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SENSOR_MODE_UNKNOWN = 0xFF [static]

The Sick LD is in an unknown state.

Definition at line 80 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SIGNAL_LED_GREEN = 0x04 [static]

Mask for green LED.

Definition at line 244 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SIGNAL_LED_RED = 0x08 [static]

Mask for red LED.

Definition at line 245 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SIGNAL_LED_YELLOW_A = 0x01 [static]

Mask for first yellow LED.

Definition at line 242 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SIGNAL_LED_YELLOW_B = 0x02 [static]

Mask for second yellow LED.

Definition at line 243 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SIGNAL_SWITCH_0 = 0x10 [static]

Mask for signal switch 0.

Definition at line 246 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SIGNAL_SWITCH_1 = 0x20 [static]

Mask for signal switch 1.

Definition at line 247 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SIGNAL_SWITCH_2 = 0x40 [static]

Mask for signal switch 2.

Definition at line 248 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_SIGNAL_SWITCH_3 = 0x80 [static]

Mask for signal switch 3.

Definition at line 249 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_CODE = 0x01 [static]

Status service code.

Definition at line 90 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID = 0x01 [static]

Request the Sick LD ID.

Definition at line 99 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_APP_NAME = 0x21 [static]

Request the application name.

Definition at line 115 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_APP_PART_NUM = 0x20 [static]

Request the application part number.

Definition at line 114 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_APP_VERSION = 0x22 [static]

Request the application version.

Definition at line 116 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_FIRMWARE_NAME = 0x11 [static]

Request the firmware's name.

Definition at line 112 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_FIRMWARE_PART_NUM = 0x10 [static]

Requess the firmware's part number.

Definition at line 111 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_FIRMWARE_VERSION = 0x12 [static]

Request the firmware's version.

Definition at line 113 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_SENSOR_EDM_SERIAL_NUM = 0x04 [static]

Request the edm??? serial number.

Definition at line 110 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_SENSOR_NAME = 0x01 [static]

Request the sensor's name.

Definition at line 107 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_SENSOR_PART_NUM = 0x00 [static]

Request the sensor's part number.

Definition at line 106 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_SENSOR_SERIAL_NUM = 0x03 [static]

Request the sensor's serial number.

Definition at line 109 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_ID_SENSOR_VERSION = 0x02 [static]

Request the sensor's version.

Definition at line 108 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_SIGNAL = 0x04 [static]

Reads the value of the switch and LED port.

Definition at line 101 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_GET_STATUS = 0x02 [static]

Request status information.

Definition at line 100 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_LD_REGISTER_APPLICATION = 0x06 [static]

Registers the ID data for the application firmware.

Definition at line 103 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_STAT_SERV_SET_SIGNAL = 0x05 [static]

Sets the switches and LEDs.

Definition at line 102 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_CODE = 0x04 [static]

Working service code.

Definition at line 93 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_RESET = 0x01 [static]

Sick LD enters a reset sequence.

Definition at line 140 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_RESET_HALT_APP = 0x02 [static]

Sick LD does a minimal reset (Application is halted and device enters IDLE state)

Definition at line 148 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_RESET_INIT_CPU = 0x00 [static]

Sick LD does a complete reset (Reinitializes the CPU)

Definition at line 146 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_RESET_KEEP_CPU = 0x01 [static]

Sick LD does a partial reset (CPU is not reinitialized)

Definition at line 147 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_TRANS_IDLE = 0x02 [static]

Sick LD enters IDLE mode (motor stops and laser is turned off)

Definition at line 141 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_TRANS_MEASURE = 0x04 [static]

Sick LD enters MEASURE mode (laser starts with next revolution)

Definition at line 143 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_MAX_PULSE = 0x01 [static]

Sick LD reports config yields a max laser pulse frequency that is too high.

Definition at line 152 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_MEAN_PULSE = 0x02 [static]

Sick LD reports config yields a max mean pulse frequency that is too high.

Definition at line 153 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_SECT_BORDER = 0x03 [static]

Sick LD reports sector borders are not configured correctly.

Definition at line 154 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_SECT_BORDER_MULT = 0x04 [static]

Sick LD reports sector borders are not a multiple of the step angle.

Definition at line 155 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_TRANS_MEASURE_RET_OK = 0x00 [static]

Sick LD is ready to stream/obtain scan profiles.

Definition at line 151 of file SickLD.hh.

const uint8_t SickToolbox::SickLD::SICK_WORK_SERV_TRANS_ROTATE = 0x03 [static]

Sick LD enters ROTATE mode (motor starts and rotates with a specified speed in Hz, laser is off)

Definition at line 142 of file SickLD.hh.

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

Classes

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation