crl::multisense::system::ExternalCalibration Class Reference

#include <MultiSenseTypes.hh>

Public Member Functions
	ExternalCalibration ()

Public Attributes
float	pitch
float	roll
float	x
float	y
float	yaw
float	z

Detailed Description

A external calibration associated with the MultiSense. This is user defined non-volatile storage so the location of the MultiSense can be stored dynamically on the sensor. This can be used to store the mounting location of the sensor relative to a base coordinate frame. This is not used internally by the MultiSense or the ROS driver.

Example code to query a devices's external calibration:

 //
 // Instantiate a channel connecting to a sensor at the factory default
 // IP address
 crl::multisense::Channel* channel;
 channel = crl::multisense::Channel::Create("10.66.171.21");

 channel->setMtu(7200);

 //
 // Create a instance of ExternalCalibration to store the device's imager
// calibration
 crl::multisense::system::ExternalCalibration externalCalibration;

 //
 // Query the imager calibration from the Channel instance
 crl::multisense::Status status = channel->getExternalCalibration(externalCalibration));

 //
 // Check to see if the network configuration query succeeded
 if(crl::multisense::Status_Ok != status) {
      throw std::runtime_error("Unable to query device's external calibration");
 }

 //
 // Use the external calibration...

 //
 // Destroy the channel instance
 crl::multisense::Channel::Destroy(channel);

Example code to set a devices external calibration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");

channel->setMtu(7200);

//
// Create a instance of ExternalCalibration to store the device's imager
// calibration
crl::multisense::system::ExternalCalibration externalCalibration;

//
// Set the external calibration values
externalCalibration.x = 0.1;
externalCalibration.y = 0.2;
externalCalibration.z = 0.3;
externalCalibration.roll = 2.5;
externalCalibration.pitch = 3.67;
externalCalibration.yaw = 1.2;

//
// Send the new external calibration to the device
crl::multisense::Status status = channel->setExternalCalibration(externalCalibration));

//
// Check to see if the new network configuration was received
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set the devices's imager calibration");
}

//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 2695 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

crl::multisense::system::ExternalCalibration::ExternalCalibration ( )

inline

Default constructor. By default this transform is Identity

Definition at line 2717 of file MultiSenseTypes.hh.

Member Data Documentation

float crl::multisense::system::ExternalCalibration::pitch

The external pitch translation of the MultiSense in degrees

Definition at line 2711 of file MultiSenseTypes.hh.

float crl::multisense::system::ExternalCalibration::roll

The external roll translation of the MultiSense in degrees

Definition at line 2708 of file MultiSenseTypes.hh.

float crl::multisense::system::ExternalCalibration::x

The external x translation of the MultiSense in meters

Definition at line 2699 of file MultiSenseTypes.hh.

float crl::multisense::system::ExternalCalibration::y

The external y translation of the MultiSense in meters

Definition at line 2702 of file MultiSenseTypes.hh.

float crl::multisense::system::ExternalCalibration::yaw

The external yaw translation of the MultiSense in degrees

Definition at line 2714 of file MultiSenseTypes.hh.

float crl::multisense::system::ExternalCalibration::z

The external z translation of the MultiSense in meters

Definition at line 2705 of file MultiSenseTypes.hh.

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

• MultiSenseTypes.hh