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9 #ifndef CSickLaserUSB_H
10 #define CSickLaserUSB_H
73 bool waitContinuousSampleFrame( std::vector<float> &ranges,
unsigned char &LMS_status, uint32_t &out_board_timestamp,
bool &is_mm_mode );
79 const std::string &iniSection );
94 m_serialNumber = deviceSerialNumber;
101 bool &outThereIsObservation,
103 bool &hardwareError );
bool checkControllerIsConnected()
A definition of a CStream actually representing a USB connection to a FTDI chip.
uint32_t m_timeStartUI
Time of the first data packet, for synchronization purposes.
mrpt::system::TTimeStamp m_timeStartTT
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
void doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
Specific laser scanner "software drivers" must process here new data from the I/O stream,...
This "software driver" implements the communication protocol for interfacing a SICK LMS2XX laser scan...
bool waitContinuousSampleFrame(std::vector< float > &ranges, unsigned char &LMS_status, uint32_t &out_board_timestamp, bool &is_mm_mode)
bool turnOn()
Enables the scanning mode (in this class this has no effect).
void setDeviceSerialNumber(const std::string &deviceSerialNumber)
Changes the serial number of the device to open (call prior to 'doProcess')
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...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...
This class allows loading and storing values and vectors of different types from a configuration text...
poses::CPose3D m_sensorPose
The sensor 6D pose:
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
CInterfaceFTDI * m_usbConnection
bool turnOff()
Disables the scanning mode (in this class this has no effect).
std::string m_serialNumber
virtual ~CSickLaserUSB()
Destructor.
CSickLaserUSB()
Constructor.
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