#include <urg_c_wrapper.h>

Public Member Functions
ros::Duration	computeLatency (size_t num_measurements)
double	getAngleIncrement () const
double	getAngleMax () const
double	getAngleMaxLimit () const
double	getAngleMin () const
double	getAngleMinLimit () const
bool	getAR00Status (URGStatus &status)
ros::Duration	getComputedLatency () const
std::string	getDeviceID ()
bool	getDL00Status (UrgDetectionReport &report)
std::string	getFirmwareDate ()
std::string	getFirmwareVersion ()
std::string	getIPAddress () const
int	getIPPort () const
std::string	getProductName ()
std::string	getProtocolVersion ()
double	getRangeMax () const
double	getRangeMin () const
double	getScanPeriod () const
std::string	getSensorState ()
std::string	getSensorStatus ()
int	getSerialBaud () const
std::string	getSerialPort () const
double	getTimeIncrement () const
ros::Duration	getUserTimeOffset () const
std::string	getVendorName ()
bool	grabScan (const sensor_msgs::LaserScanPtr &msg)
bool	grabScan (const sensor_msgs::MultiEchoLaserScanPtr &msg)
bool	isStarted () const
bool	setAngleLimitsAndCluster (double &angle_min, double &angle_max, int cluster)
void	setFrameId (const std::string &frame_id)
bool	setSkip (int skip)
void	setUserLatency (const double latency)
void	start ()
void	stop ()
	URGCWrapper (const std::string &ip_address, const int ip_port, bool &using_intensity, bool &using_multiecho)
	URGCWrapper (const int serial_baud, const std::string &serial_port, bool &using_intensity, bool &using_multiecho)
	~URGCWrapper ()
Private Member Functions
uint16_t	checkCRC (const char *bytes, const uint32_t size)
	calculate the crc of a given set of bytes.
ros::Duration	getAngularTimeOffset () const
ros::Duration	getNativeClockOffset (size_t num_measurements)
ros::Duration	getTimeStampOffset (size_t num_measurements)
void	initialize (bool &using_intensity, bool &using_multiecho)
bool	isIntensitySupported ()
bool	isMultiEchoSupported ()
std::string	sendCommand (std::string cmd)
	Send an arbitrary serial command to the lidar. These commands can also be sent via the ethernet socket.
Private Attributes
int	cluster_
std::vector< long >	data_
int	first_step_
std::string	frame_id_
	Output frame_id for each laserscan.
std::vector< unsigned short >	intensity_
std::string	ip_address_
int	ip_port_
int	last_step_
urg_measurement_type_t	measurement_type_
int	serial_baud_
std::string	serial_port_
int	skip_
bool	started_
ros::Duration	system_latency_
urg_t	urg_
bool	use_intensity_
bool	use_multiecho_
ros::Duration	user_latency_

Detailed Description

Definition at line 89 of file urg_c_wrapper.h.

Constructor & Destructor Documentation

urg_node::URGCWrapper::URGCWrapper	(	const std::string &	ip_address,
		const int	ip_port,
		bool &	using_intensity,
		bool &	using_multiecho
	)

Definition at line 44 of file urg_c_wrapper.cpp.

urg_node::URGCWrapper::URGCWrapper	(	const int	serial_baud,
		const std::string &	serial_port,
		bool &	using_intensity,
		bool &	using_multiecho
	)

Definition at line 69 of file urg_c_wrapper.cpp.

urg_node::URGCWrapper::~URGCWrapper ( )

Definition at line 184 of file urg_c_wrapper.cpp.

Member Function Documentation

uint16_t urg_node::URGCWrapper::checkCRC	(	const char *	bytes,
		const uint32_t	size
	)		`[private]`

calculate the crc of a given set of bytes.

Parameters:

bytes	The bytes array to be processed.
size	The size of the bytes array.

Returns:: the calculated CRC of the bytes.

Definition at line 523 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::computeLatency ( size_t num_measurements )

Definition at line 874 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleIncrement ( ) const

Definition at line 667 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleMax ( ) const

Definition at line 646 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleMaxLimit ( ) const

Definition at line 659 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleMin ( ) const

Definition at line 641 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getAngleMinLimit ( ) const

Definition at line 651 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getAngularTimeOffset ( ) const [private]

Definition at line 858 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::getAR00Status ( URGStatus & status )

Definition at line 319 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getComputedLatency ( ) const

Definition at line 741 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getDeviceID ( )

Definition at line 736 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::getDL00Status ( UrgDetectionReport & report )

Definition at line 409 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getFirmwareDate ( )

Definition at line 726 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getFirmwareVersion ( )

Definition at line 721 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getIPAddress ( ) const

Definition at line 691 of file urg_c_wrapper.cpp.

int urg_node::URGCWrapper::getIPPort ( ) const

Definition at line 696 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getNativeClockOffset ( size_t num_measurements ) [private]

Definition at line 904 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getProductName ( )

Definition at line 716 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getProtocolVersion ( )

Definition at line 731 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getRangeMax ( ) const

Definition at line 633 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getRangeMin ( ) const

Definition at line 625 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getScanPeriod ( ) const

Definition at line 674 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getSensorState ( )

Definition at line 756 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getSensorStatus ( )

Definition at line 751 of file urg_c_wrapper.cpp.

int urg_node::URGCWrapper::getSerialBaud ( ) const

Definition at line 706 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getSerialPort ( ) const

Definition at line 701 of file urg_c_wrapper.cpp.

double urg_node::URGCWrapper::getTimeIncrement ( ) const

Definition at line 680 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getTimeStampOffset ( size_t num_measurements ) [private]

Definition at line 945 of file urg_c_wrapper.cpp.

ros::Duration urg_node::URGCWrapper::getUserTimeOffset ( ) const

Definition at line 746 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::getVendorName ( )

Definition at line 711 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::grabScan ( const sensor_msgs::LaserScanPtr & msg )

Definition at line 190 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::grabScan ( const sensor_msgs::MultiEchoLaserScanPtr & msg )

Definition at line 247 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::initialize	(	bool &	using_intensity,
		bool &	using_multiecho
	)		`[private]`

Definition at line 96 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::isIntensitySupported ( ) [private]

Definition at line 824 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::isMultiEchoSupported ( ) [private]

Definition at line 841 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::isStarted ( ) const

Definition at line 620 of file urg_c_wrapper.cpp.

std::string urg_node::URGCWrapper::sendCommand ( std::string cmd ) [private]

Send an arbitrary serial command to the lidar. These commands can also be sent via the ethernet socket.

Parameters:

cmd	The arbitrary command fully formatted to be sent as provided

Returns:: The textual response of the Lidar, empty if, but may return lidar's own error string.

Definition at line 530 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::setAngleLimitsAndCluster	(	double &	angle_min,
		double &	angle_max,
		int	cluster
	)

Definition at line 772 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::setFrameId ( const std::string & frame_id )

Definition at line 761 of file urg_c_wrapper.cpp.

bool urg_node::URGCWrapper::setSkip ( int skip )

Definition at line 819 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::setUserLatency ( const double latency )

Definition at line 766 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::start ( )

Definition at line 154 of file urg_c_wrapper.cpp.

void urg_node::URGCWrapper::stop ( )

Definition at line 178 of file urg_c_wrapper.cpp.

Member Data Documentation

int urg_node::URGCWrapper::cluster_ [private]

Definition at line 210 of file urg_c_wrapper.h.

std::vector<long> urg_node::URGCWrapper::data_ [private]

Definition at line 202 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::first_step_ [private]

Definition at line 208 of file urg_c_wrapper.h.

std::string urg_node::URGCWrapper::frame_id_ [private]

Output frame_id for each laserscan.

Definition at line 197 of file urg_c_wrapper.h.

std::vector<unsigned short> urg_node::URGCWrapper::intensity_ [private]

Definition at line 203 of file urg_c_wrapper.h.

std::string urg_node::URGCWrapper::ip_address_ [private]

Definition at line 216 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::ip_port_ [private]

Definition at line 217 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::last_step_ [private]

Definition at line 209 of file urg_c_wrapper.h.

urg_measurement_type_t urg_node::URGCWrapper::measurement_type_ [private]

Definition at line 207 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::serial_baud_ [private]

Definition at line 219 of file urg_c_wrapper.h.

std::string urg_node::URGCWrapper::serial_port_ [private]

Definition at line 218 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::skip_ [private]

Definition at line 211 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::started_ [private]

Definition at line 200 of file urg_c_wrapper.h.

ros::Duration urg_node::URGCWrapper::system_latency_ [private]

Definition at line 213 of file urg_c_wrapper.h.

urg_t urg_node::URGCWrapper::urg_ [private]

Definition at line 199 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::use_intensity_ [private]

Definition at line 205 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::use_multiecho_ [private]

Definition at line 206 of file urg_c_wrapper.h.

ros::Duration urg_node::URGCWrapper::user_latency_ [private]

Definition at line 214 of file urg_c_wrapper.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation