Public Member Functions | Public Attributes | List of all members
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
channel = crl::multisense::Channel::Create("10.66.171.21");
channel->setMtu(7200);
//
// Create a instance of ExternalCalibration to store the device's imager
// calibration
//
// Query the imager calibration from the Channel instance
crl::multisense::Status status = channel->getExternalCalibration(externalCalibration));
//
// Check to see if the network configuration query succeeded
throw std::runtime_error("Unable to query device's external calibration");
}
//
// Use the external calibration...
//
// Destroy the channel instance

Example code to set a devices external calibration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
channel = crl::multisense::Channel::Create("10.66.171.21");
channel->setMtu(7200);
//
// Create a instance of ExternalCalibration to store the device's imager
// calibration
//
// 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
throw std::runtime_error("Unable to set the devices's imager calibration");
}
//
// Destroy the channel instance

Definition at line 2567 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

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

Default constructor. By default this transform is Identity

Definition at line 2589 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 2583 of file MultiSenseTypes.hh.

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

The external roll translation of the MultiSense in degrees

Definition at line 2580 of file MultiSenseTypes.hh.

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

The external x translation of the MultiSense in meters

Definition at line 2571 of file MultiSenseTypes.hh.

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

The external y translation of the MultiSense in meters

Definition at line 2574 of file MultiSenseTypes.hh.

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

The external yaw translation of the MultiSense in degrees

Definition at line 2586 of file MultiSenseTypes.hh.

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

The external z translation of the MultiSense in meters

Definition at line 2577 of file MultiSenseTypes.hh.


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


multisense_lib
Author(s):
autogenerated on Sat Apr 6 2019 02:16:47