UrgCtrl.h

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#ifndef QRK_URG_CTRL_H
#define QRK_URG_CTRL_H

#include "RangeSensor.h"
#include "Coordinate.h"


namespace qrk
{
  class Connection;


  class UrgCtrl : public Coordinate, public RangeSensor
  {
  public:

    enum {
      DefaultBaudrate = 115200, 
      DefaultRetryTimes = 8,
      Infinity = 0,

      Off = 0,                  
      On = 1,                   
    };

    UrgCtrl(void);
    virtual ~UrgCtrl(void);

    const char* what(void) const;

    bool connect(const char* device, long baudrate = DefaultBaudrate);
    void setConnection(Connection* con);
    Connection* connection(void);
    void disconnect(void);
    bool isConnected(void) const;

    long minDistance(void) const;
    long maxDistance(void) const;
    int maxScanLines(void) const;


    void setRetryTimes(size_t times);


    void setCapturesSize(size_t size);


    int scanMsec(void) const;


    void setCaptureMode(RangeCaptureMode mode);


    RangeCaptureMode captureMode(void);


    void setCaptureRange(int begin_index, int end_index);


    void setCaptureFrameInterval(size_t interval);


    void setCaptureTimes(size_t times);


    size_t remainCaptureTimes(void);


    void setCaptureSkipLines(size_t skip_lines);


    int capture(std::vector<long>& data, long* timestamp = NULL);


    /*
      \brief Get intensity data and distance data.

      \attention Only Top-URG and Classic-URG supports this fuction (2008-12-24)
    */
    int captureWithIntensity(std::vector<long>& data,
                             std::vector<long>& intensity_data,
                             long* timestamp = NULL);


    void stop(void);


    bool setTimestamp(int timestamp = 0, int* response_msec = NULL,
                      int* force_delay_msec = NULL);

    long recentTimestamp(void) const;


    bool setLaserOutput(bool on);

    double index2rad(const int index) const;
    int rad2index(const double radian) const;

    void setParameter(const RangeSensorParameter& parameter);
    RangeSensorParameter parameter(void) const;


    bool loadParameter(void);


    bool versionLines(std::vector<std::string>& lines);


    bool reboot(void);


    bool reset(void);


  protected:
    virtual void captureReceived(void);


  private:
    UrgCtrl(const UrgCtrl& rhs);
    UrgCtrl& operator = (const UrgCtrl& rhs);

    struct pImpl;
    std::auto_ptr<pImpl> pimpl;
  };
}

#endif /* !QRK_URG_CTRL_H */

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libhokuyo_urg
Author(s): Alexander Bubeck
autogenerated on Fri Jan 11 09:14:12 2013