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48 CIbeoLuxETH(std::string _ip=std::string(
"10.152.36.93"),
unsigned int _port=12002);
63 void makeCommandHeader(
unsigned char* buffer);
64 void makeStartCommand(
unsigned char* buffer);
65 void makeStopCommand(
unsigned char* buffer);
66 void makeTypeCommand(
unsigned char* buffer);
80 void dataCollection();
82 float convertLayerToRad(
int scanlayer);
83 float convertTicksToHRad(
int hticks,
int hticksPerRotation);
unsigned int lastScanNumber
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...
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...
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:
unsigned int curScanNumber
unsigned int m_scanFrequency
mrpt::poses::CPose3D m_sensorPose
A class used to store a 3D point.
mrpt::system::TThreadHandle dataCollectionThread
mrpt::utils::CClientTCPSocket m_client
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