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48 CIbeoLuxETH(std::string _ip=std::string(
"10.152.36.93"),
unsigned int _port=12002);
float convertTicksToHRad(int hticks, int hticksPerRotation)
void makeStopCommand(unsigned char *buffer)
unsigned int lastScanNumber
void makeStartCommand(unsigned char *buffer)
double BASE_IMPEXP distance(const TPoint2D &p1, const TPoint2D &p2)
Gets the distance between two points in a 2D space.
This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanner...
A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing...
void makeTypeCommand(unsigned char *buffer)
std::vector< mrpt::obs::CObservation3DRangeScan > m_observations
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
void initialize()
This method can or cannot be implemented in the derived class, depending on the need for it.
mrpt::poses::CPoint3D convertToCartesian(float vrad, float hrad, float distance)
void doProcess()
This function acquire a laser scan from the device.
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
Load sensor pose on the robot, or keep the default sensor pose.
float convertLayerToRad(int scanlayer)
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
This structure contains the information needed to interface the threads API on each platform:
CIbeoLuxETH(std::string _ip=std::string("10.152.36.93"), unsigned int _port=12002)
Constructor.
virtual ~CIbeoLuxETH()
Destructor.
unsigned int curScanNumber
unsigned int m_scanFrequency
mrpt::poses::CPose3D m_sensorPose
A class used to store a 3D point.
void makeCommandHeader(unsigned char *buffer)
mrpt::system::TThreadHandle dataCollectionThread
mrpt::utils::CClientTCPSocket m_client
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