sick_scan_xd::ScannerBasicParam Class Reference

#include <sick_generic_parser.h>

Public Member Functions
double	getAngularDegreeResolution (void)
	Get angular resolution in degress. More...
bool	getDeviceIsRadar (void)
	flag to mark the device as radar (instead of laser scanner) More...
RADAR_TYPE_ENUM	getDeviceRadarType (void)
double	getElevationDegreeResolution (void)
	get angular resolution in VERTICAL direction for multilayer scanner More...
int8_t	getEncoderMode ()
	Getter-Method for encoder mode. More...
double	getExpectedFrequency (void)
	get expected scan frequency More...
bool	getFREchoFilterAvailable (void)
bool	getImuEnabled ()
bool	getIntensityResolutionIs16Bit (void)
	Get the RSSI Value length. More...
int	getMaxEvalFields (void)
int	getNumberOfLayers (void)
	Getting number of scanner layers. More...
int	getNumberOfMaximumEchos (void)
	Get number of maximum echoes for this laser scanner type. More...
int	getNumberOfShots (void)
	Get number of shots per scan. More...
float	getRectEvalFieldAngleRefPointOffsetRad (void)
double	getScanAngleShift ()
bool	getScandatacfgAzimuthTableSupported (void) const
bool	getScanMirroredAndShifted ()
	flag to mark mirroring of rotation direction More...
std::string	getScannerName (void) const
	Getting name (type) of scanner. More...
bool	getTrackingModeSupported (void)
	set/get flag to mark the radar device supports selection of tracking modes. By default, true for all radar devices except RMS-1xxx, otherwise false. More...
bool	getUseBinaryProtocol (void)
	flag to decide between usage of ASCII-sopas or BINARY-sopas More...
EVAL_FIELD_SUPPORT	getUseEvalFields ()
bool	getUseSafetyPasWD ()
	flag to mark the device uses the safety scanner password \reutrn Bool true for safety password false for normal password More...
bool	getUseScancfgList ()
bool	getUseWriteOutputRanges ()
bool	getWaitForReady ()
bool	isOneOfScannerNames (const std::vector< std::string > &scanner_names) const
	Returns true, if the scanner name (type) is found int a given list of scanner names. More...
	ScannerBasicParam ()
	Construction of parameter object. More...
void	setAngularDegreeResolution (double _res)
	Set angular resolution in degrees. More...
void	setDeviceIsRadar (RADAR_TYPE_ENUM _radar_type)
	flag to mark the device as radar (instead of laser scanner) More...
void	setElevationDegreeResolution (double _elevRes)
	set angular resolution in VERTICAL direction for multilayer scanner More...
void	setEncoderMode (int8_t _EncoderMode)
	Prama for encoder mode. More...
void	setExpectedFrequency (double _freq)
	set expected scan frequency More...
void	setFREchoFilterAvailable (bool _frEchoFilterAvailable)
void	setImuEnabled (bool _imuEnabled)
void	setIntensityResolutionIs16Bit (bool _IntensityResolutionIs16Bit)
	Set the RSSI Value length. More...
void	setMaxEvalFields (int _maxEvalFields)
void	setNumberOfLayers (int _layerNum)
	Setting number of scanner layers (depending of scanner type/family) More...
void	setNumberOfMaximumEchos (int _maxEchos)
	Set number of maximum echoes for this laser scanner type. More...
void	setNumberOfShots (int _shots)
	Set number of shots per scan. More...
void	setRectEvalFieldAngleRefPointOffsetRad (float _rectFieldAngleRefPointOffsetRad)
void	setScanAngleShift (double _scanAngleShift)
void	setScandatacfgAzimuthTableSupported (bool _scandatacfgAzimuthTableSupported)
void	setScanMirroredAndShifted (bool _scanMirroredAndShifted)
	flag to mark mirroring of rotation direction More...
void	setScannerName (std::string _s)
	Setting name (type) of scanner. More...
void	setTrackingModeSupported (bool _trackingModeSupported)
void	setUseBinaryProtocol (bool _useBinary)
	flag to decide between usage of ASCII-sopas or BINARY-sopas More...
void	setUseEvalFields (EVAL_FIELD_SUPPORT _useEvalFields)
void	setUseSafetyPasWD (bool _useSafetyPasWD)
	flag to mark the device uses the safety scanner password More...
void	setUseScancfgList (bool _useScancfgList)
void	setUseWriteOutputRanges (bool _useWriteOutputRanges)
void	setWaitForReady (bool _waitForReady)

Private Attributes
double	angleDegressResolution
bool	CartographerCompatibility
RADAR_TYPE_ENUM	deviceRadarType = NO_RADAR
double	elevationDegreeResolution
int8_t	encoderMode
double	expectedFrequency
bool	frEchoFilterAvailable = false
bool	imuEnabled
bool	IntensityResolutionIs16Bit
int	maxEvalFields
int	numberOfLayers
int	numberOfMaximumEchos
int	numberOfShots
float	rectFieldAngleRefPointOffsetRad
double	scanAngleShift
bool	scandatacfgAzimuthTableSupported = false
bool	scanMirroredAndShifted
std::string	scannerName
bool	trackingModeSupported = false
bool	useBinaryProtocol
EVAL_FIELD_SUPPORT	useEvalFields
bool	useSafetyPasWD
bool	useScancfgList
bool	useWriteOutputRanges
bool	waitForReady

Detailed Description

Definition at line 110 of file sick_generic_parser.h.

Constructor & Destructor Documentation

ScannerBasicParam()

sick_scan_xd::ScannerBasicParam::ScannerBasicParam

(

)

Construction of parameter object.

Definition at line 469 of file sick_generic_parser.cpp.

Member Function Documentation

getAngularDegreeResolution()

double sick_scan_xd::ScannerBasicParam::getAngularDegreeResolution

(

void

)

Get angular resolution in degress.

Returns

angle resolution in degress (NOT rad) between each shot

Definition at line 211 of file sick_generic_parser.cpp.

getDeviceIsRadar()

bool sick_scan_xd::ScannerBasicParam::getDeviceIsRadar

(

void

)

flag to mark the device as radar (instead of laser scanner)

Parameters

_deviceIsRadar

false for laserscanner, true for radar (like rms_xxxx)

See also

getDeviceIsRadar

Definition at line 292 of file sick_generic_parser.cpp.

getDeviceRadarType()

RADAR_TYPE_ENUM sick_scan_xd::ScannerBasicParam::getDeviceRadarType

(

void

)

Definition at line 297 of file sick_generic_parser.cpp.

getElevationDegreeResolution()

double sick_scan_xd::ScannerBasicParam::getElevationDegreeResolution

(

void

)

get angular resolution in VERTICAL direction for multilayer scanner

Returns

elevation resolution in degree

See also

setElevationDegreeResolution

Definition at line 254 of file sick_generic_parser.cpp.

getEncoderMode()

int8_t sick_scan_xd::ScannerBasicParam::getEncoderMode

(

)

Getter-Method for encoder mode.

/*!

Returns

EncoderMode:-1 Use for Scanners WO Encoder 00 disabled 01 single increment 02 direction recognition phase 03 direction recognition level

See also

setEncoderMode

Definition at line 495 of file sick_generic_parser.cpp.

getExpectedFrequency()

double sick_scan_xd::ScannerBasicParam::getExpectedFrequency

(

void

)

get expected scan frequency

Returns

expected scan frequency in [Hz]

See also

setExpectedFrequency

Definition at line 232 of file sick_generic_parser.cpp.

getFREchoFilterAvailable()

bool sick_scan_xd::ScannerBasicParam::getFREchoFilterAvailable

(

void

)

Definition at line 449 of file sick_generic_parser.cpp.

getImuEnabled()

bool sick_scan_xd::ScannerBasicParam::getImuEnabled

(

)

Definition at line 269 of file sick_generic_parser.cpp.

getIntensityResolutionIs16Bit()

bool sick_scan_xd::ScannerBasicParam::getIntensityResolutionIs16Bit

(

void

)

Get the RSSI Value length.

Returns

Boolean value: True=16 Bit False=8Bit

See also

setUseBinaryProtocol

Definition at line 361 of file sick_generic_parser.cpp.

getMaxEvalFields()

int sick_scan_xd::ScannerBasicParam::getMaxEvalFields

(

void

)

Definition at line 396 of file sick_generic_parser.cpp.

getNumberOfLayers()

int sick_scan_xd::ScannerBasicParam::getNumberOfLayers

(

void

)

Getting number of scanner layers.

Returns

Number of scanners layer (e.g. 1 for TiM5xx and 24 for MRS6124)

See also

setNumberOfLayers

Definition at line 133 of file sick_generic_parser.cpp.

getNumberOfMaximumEchos()

int sick_scan_xd::ScannerBasicParam::getNumberOfMaximumEchos

(

void

)

Get number of maximum echoes for this laser scanner type.

Returns

Number of max echoes

See also

setNumberOfMaximumEchos

Definition at line 179 of file sick_generic_parser.cpp.

getNumberOfShots()

int sick_scan_xd::ScannerBasicParam::getNumberOfShots

(

void

)

Get number of shots per scan.

Returns

Number of shots per scan (for one layer)

See also

getNumberOfLayers

Definition at line 156 of file sick_generic_parser.cpp.

getRectEvalFieldAngleRefPointOffsetRad()

float sick_scan_xd::ScannerBasicParam::getRectEvalFieldAngleRefPointOffsetRad

(

void

)

Definition at line 411 of file sick_generic_parser.cpp.

getScanAngleShift()

double sick_scan_xd::ScannerBasicParam::getScanAngleShift

(

)

Definition at line 505 of file sick_generic_parser.cpp.

getScandatacfgAzimuthTableSupported()

bool sick_scan_xd::ScannerBasicParam::getScandatacfgAzimuthTableSupported

(

void

)

const

Definition at line 459 of file sick_generic_parser.cpp.

getScanMirroredAndShifted()

bool sick_scan_xd::ScannerBasicParam::getScanMirroredAndShifted

(

)

flag to mark mirroring of rotation direction

Parameters

_scanMirrored

false for normal mounting true for up side down or NAV 310

See also

getScanMirrored

Definition at line 331 of file sick_generic_parser.cpp.

getScannerName()

std::string sick_scan_xd::ScannerBasicParam::getScannerName

(

void

)

const

Getting name (type) of scanner.

Returns

Name of scanner

See also

setScannerName

Definition at line 97 of file sick_generic_parser.cpp.

getTrackingModeSupported()

bool sick_scan_xd::ScannerBasicParam::getTrackingModeSupported

(

void

)

set/get flag to mark the radar device supports selection of tracking modes. By default, true for all radar devices except RMS-1xxx, otherwise false.

Definition at line 306 of file sick_generic_parser.cpp.

getUseBinaryProtocol()

bool sick_scan_xd::ScannerBasicParam::getUseBinaryProtocol

(

void

)

flag to decide between usage of ASCII-sopas or BINARY-sopas

Returns

_useBinary: True for binary, False for ASCII

See also

getUseBinaryProtocol

Definition at line 341 of file sick_generic_parser.cpp.

getUseEvalFields()

EVAL_FIELD_SUPPORT sick_scan_xd::ScannerBasicParam::getUseEvalFields

(

)

Definition at line 386 of file sick_generic_parser.cpp.

getUseSafetyPasWD()

bool sick_scan_xd::ScannerBasicParam::getUseSafetyPasWD

(

)

flag to mark the device uses the safety scanner password \reutrn Bool true for safety password false for normal password

See also

getUseSafetyPasWD

Definition at line 381 of file sick_generic_parser.cpp.

getUseScancfgList()

bool sick_scan_xd::ScannerBasicParam::getUseScancfgList

(

)

Definition at line 420 of file sick_generic_parser.cpp.

getUseWriteOutputRanges()

bool sick_scan_xd::ScannerBasicParam::getUseWriteOutputRanges

(

)

Definition at line 430 of file sick_generic_parser.cpp.

getWaitForReady()

bool sick_scan_xd::ScannerBasicParam::getWaitForReady

(

)

Definition at line 439 of file sick_generic_parser.cpp.

isOneOfScannerNames()

bool sick_scan_xd::ScannerBasicParam::isOneOfScannerNames

(

const std::vector< std::string > &

scanner_names

)

const

Returns true, if the scanner name (type) is found int a given list of scanner names.

Definition at line 105 of file sick_generic_parser.cpp.

setAngularDegreeResolution()

void sick_scan_xd::ScannerBasicParam::setAngularDegreeResolution

(

double

_res

)

Set angular resolution in degrees.

Parameters

_res	resolution in degress (NOT rad) between each shot

See also

getAngularDegreeResolution

Definition at line 201 of file sick_generic_parser.cpp.

setDeviceIsRadar()

void sick_scan_xd::ScannerBasicParam::setDeviceIsRadar

(

RADAR_TYPE_ENUM

_radar_type

)

flag to mark the device as radar (instead of laser scanner)

Parameters

_deviceIsRadar

false for laserscanner, true for radar (like rms_xxxx)

See also

getDeviceIsRadar

Definition at line 282 of file sick_generic_parser.cpp.

setElevationDegreeResolution()

void sick_scan_xd::ScannerBasicParam::setElevationDegreeResolution

(

double

_elevRes

)

set angular resolution in VERTICAL direction for multilayer scanner

Parameters

_elevRes

resolution in degree

See also

getElevationDegreeResolution

Definition at line 243 of file sick_generic_parser.cpp.

setEncoderMode()

void sick_scan_xd::ScannerBasicParam::setEncoderMode

(

int8_t

_encoderMode

)

Prama for encoder mode.

Parameters

_EncoderMode

-1 Use for Scanners WO Encoder 00 disabled 01 single increment 02 direction recognition phase 03 direction recognition level

See also

setEncoderMode

Definition at line 484 of file sick_generic_parser.cpp.

setExpectedFrequency()

void sick_scan_xd::ScannerBasicParam::setExpectedFrequency

(

double

_freq

)

set expected scan frequency

Parameters

_freq

scan frequency in [Hz]

See also

getExpectedFrequency

Definition at line 221 of file sick_generic_parser.cpp.

setFREchoFilterAvailable()

void sick_scan_xd::ScannerBasicParam::setFREchoFilterAvailable

(

bool

_frEchoFilterAvailable

)

Definition at line 444 of file sick_generic_parser.cpp.

setImuEnabled()

void sick_scan_xd::ScannerBasicParam::setImuEnabled

(

bool

_imuEnabled

)

Definition at line 273 of file sick_generic_parser.cpp.

setIntensityResolutionIs16Bit()

void sick_scan_xd::ScannerBasicParam::setIntensityResolutionIs16Bit

(

bool

_IntensityResolutionIs16Bit

)

Set the RSSI Value length.

Parameters

_useBinary

Boolean value: True=16 Bit False=8Bit

See also

getUseBinaryProtocol

Definition at line 351 of file sick_generic_parser.cpp.

setMaxEvalFields()

void sick_scan_xd::ScannerBasicParam::setMaxEvalFields

(

int

_maxEvalFields

)

Definition at line 401 of file sick_generic_parser.cpp.

setNumberOfLayers()

void sick_scan_xd::ScannerBasicParam::setNumberOfLayers

(

int

_layerNum

)

Setting number of scanner layers (depending of scanner type/family)

Parameters

_layerNum

of scanner layers (e.g. 1 for TiM5xx and 24 for MRS6124

See also

getNumberOfLayers

Definition at line 122 of file sick_generic_parser.cpp.

setNumberOfMaximumEchos()

void sick_scan_xd::ScannerBasicParam::setNumberOfMaximumEchos

(

int

_maxEchos

)

Set number of maximum echoes for this laser scanner type.

Parameters

_maxEchos

of max echoes

See also

getNumberOfMaximumEchos

Definition at line 167 of file sick_generic_parser.cpp.

setNumberOfShots()

void sick_scan_xd::ScannerBasicParam::setNumberOfShots

(

int

_shots

)

Set number of shots per scan.

Parameters

_shots

of shots per scan (for one layer)

See also

getNumberOfLayers

Definition at line 145 of file sick_generic_parser.cpp.

setRectEvalFieldAngleRefPointOffsetRad()

void sick_scan_xd::ScannerBasicParam::setRectEvalFieldAngleRefPointOffsetRad

(

float

_rectFieldAngleRefPointOffsetRad

)

Definition at line 406 of file sick_generic_parser.cpp.

setScanAngleShift()

void sick_scan_xd::ScannerBasicParam::setScanAngleShift

(

double

_scanAngleShift

)

Definition at line 500 of file sick_generic_parser.cpp.

setScandatacfgAzimuthTableSupported()

void sick_scan_xd::ScannerBasicParam::setScandatacfgAzimuthTableSupported

(

bool

_scandatacfgAzimuthTableSupported

)

Definition at line 454 of file sick_generic_parser.cpp.

setScanMirroredAndShifted()

void sick_scan_xd::ScannerBasicParam::setScanMirroredAndShifted

(

bool

_scannMirroredAndShifted

)

flag to mark mirroring of rotation direction

Parameters

_scanMirrored

false for normal mounting true for up side down or NAV 310

See also

setScanMirrored

Definition at line 321 of file sick_generic_parser.cpp.

setScannerName()

void sick_scan_xd::ScannerBasicParam::setScannerName

(

std::string

_s

)

Setting name (type) of scanner.

Parameters

_s	name of scanner

See also

getScannerName

Definition at line 86 of file sick_generic_parser.cpp.

setTrackingModeSupported()

void sick_scan_xd::ScannerBasicParam::setTrackingModeSupported

(

bool

_trackingModeSupported

)

Definition at line 310 of file sick_generic_parser.cpp.

setUseBinaryProtocol()

void sick_scan_xd::ScannerBasicParam::setUseBinaryProtocol

(

bool

_useBinary

)

flag to decide between usage of ASCII-sopas or BINARY-sopas

Parameters

_useBinary

True for binary, False for ASCII

See also

getUseBinaryProtocol

Definition at line 264 of file sick_generic_parser.cpp.

setUseEvalFields()

void sick_scan_xd::ScannerBasicParam::setUseEvalFields

(

EVAL_FIELD_SUPPORT

_useEvalFields

)

Definition at line 391 of file sick_generic_parser.cpp.

setUseSafetyPasWD()

void sick_scan_xd::ScannerBasicParam::setUseSafetyPasWD

(

bool

_useSafetyPasWD

)

flag to mark the device uses the safety scanner password

Parameters

_useSafetyPasWD

false for normal scanners true for safety scanners

See also

setUseSafetyPasWD

Definition at line 371 of file sick_generic_parser.cpp.

setUseScancfgList()

void sick_scan_xd::ScannerBasicParam::setUseScancfgList

(

bool

_useScancfgList

)

Definition at line 416 of file sick_generic_parser.cpp.

setUseWriteOutputRanges()

void sick_scan_xd::ScannerBasicParam::setUseWriteOutputRanges

(

bool

_useWriteOutputRanges

)

Definition at line 425 of file sick_generic_parser.cpp.

setWaitForReady()

void sick_scan_xd::ScannerBasicParam::setWaitForReady

(

bool

_waitForReady

)

Definition at line 435 of file sick_generic_parser.cpp.

Member Data Documentation

angleDegressResolution

double sick_scan_xd::ScannerBasicParam::angleDegressResolution

private

Definition at line 216 of file sick_generic_parser.h.

CartographerCompatibility

bool sick_scan_xd::ScannerBasicParam::CartographerCompatibility

private

Definition at line 225 of file sick_generic_parser.h.

deviceRadarType

RADAR_TYPE_ENUM sick_scan_xd::ScannerBasicParam::deviceRadarType = NO_RADAR

private

Definition at line 221 of file sick_generic_parser.h.

elevationDegreeResolution

double sick_scan_xd::ScannerBasicParam::elevationDegreeResolution

private

Definition at line 215 of file sick_generic_parser.h.

encoderMode

int8_t sick_scan_xd::ScannerBasicParam::encoderMode

private

Definition at line 224 of file sick_generic_parser.h.

expectedFrequency

double sick_scan_xd::ScannerBasicParam::expectedFrequency

private

Definition at line 217 of file sick_generic_parser.h.

frEchoFilterAvailable

bool sick_scan_xd::ScannerBasicParam::frEchoFilterAvailable = false

private

Definition at line 234 of file sick_generic_parser.h.

imuEnabled

bool sick_scan_xd::ScannerBasicParam::imuEnabled

private

Definition at line 227 of file sick_generic_parser.h.

IntensityResolutionIs16Bit

bool sick_scan_xd::ScannerBasicParam::IntensityResolutionIs16Bit

private

Definition at line 220 of file sick_generic_parser.h.

maxEvalFields

int sick_scan_xd::ScannerBasicParam::maxEvalFields

private

Definition at line 229 of file sick_generic_parser.h.

numberOfLayers

int sick_scan_xd::ScannerBasicParam::numberOfLayers

private

Definition at line 212 of file sick_generic_parser.h.

numberOfMaximumEchos

int sick_scan_xd::ScannerBasicParam::numberOfMaximumEchos

private

Definition at line 214 of file sick_generic_parser.h.

numberOfShots

int sick_scan_xd::ScannerBasicParam::numberOfShots

private

Definition at line 213 of file sick_generic_parser.h.

rectFieldAngleRefPointOffsetRad

float sick_scan_xd::ScannerBasicParam::rectFieldAngleRefPointOffsetRad

private

Definition at line 230 of file sick_generic_parser.h.

scanAngleShift

double sick_scan_xd::ScannerBasicParam::scanAngleShift

private

Definition at line 218 of file sick_generic_parser.h.

scandatacfgAzimuthTableSupported

bool sick_scan_xd::ScannerBasicParam::scandatacfgAzimuthTableSupported = false

private

Definition at line 235 of file sick_generic_parser.h.

scanMirroredAndShifted

bool sick_scan_xd::ScannerBasicParam::scanMirroredAndShifted

private

Definition at line 226 of file sick_generic_parser.h.

scannerName

std::string sick_scan_xd::ScannerBasicParam::scannerName

private

Definition at line 211 of file sick_generic_parser.h.

trackingModeSupported

bool sick_scan_xd::ScannerBasicParam::trackingModeSupported = false

private

Definition at line 222 of file sick_generic_parser.h.

useBinaryProtocol

bool sick_scan_xd::ScannerBasicParam::useBinaryProtocol

private

Definition at line 219 of file sick_generic_parser.h.

useEvalFields

EVAL_FIELD_SUPPORT sick_scan_xd::ScannerBasicParam::useEvalFields

private

Definition at line 228 of file sick_generic_parser.h.

useSafetyPasWD

bool sick_scan_xd::ScannerBasicParam::useSafetyPasWD

private

Definition at line 223 of file sick_generic_parser.h.

useScancfgList

bool sick_scan_xd::ScannerBasicParam::useScancfgList

private

Definition at line 231 of file sick_generic_parser.h.

useWriteOutputRanges

bool sick_scan_xd::ScannerBasicParam::useWriteOutputRanges

private

Definition at line 232 of file sick_generic_parser.h.

waitForReady

bool sick_scan_xd::ScannerBasicParam::waitForReady

private

Definition at line 233 of file sick_generic_parser.h.

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

• sick_generic_parser.h
• sick_generic_parser.cpp