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<div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="summary"> <a href="#nested-classes">Classes</a> | <a href="#func-members">Functions</a> </div> <div class="headertitle"> <h1>laser<br/> <small> [<a class="el" href="group__playerc__proxies.html">Device proxies</a>]</small> </h1> </div> </div> <div class="contents"> <p>The laser proxy provides an interface to scanning laser range finders such as the <a class="el" href="group__driver__sicklms200.html">sicklms200</a>. <a href="#_details">More...</a></p> <table class="memberdecls"> <tr><td colspan="2"><h2><a name="nested-classes"></a> Classes</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Laser proxy data. <a href="structplayerc__laser__t.html#_details">More...</a><br/></td></tr> <tr><td colspan="2"><h2><a name="func-members"></a> Functions</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT <a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__laser.html#ga3a9395965643cecfd64ce041e91705ad">playerc_laser_create</a> (<a class="el" href="struct__playerc__client__t.html">playerc_client_t</a> *client, int index)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Create a laser proxy. <a href="#ga3a9395965643cecfd64ce041e91705ad"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__laser.html#gab610776ebfc99ba62ff76a7b64e1961b">playerc_laser_destroy</a> (<a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> *device)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Destroy a laser proxy. <a href="#gab610776ebfc99ba62ff76a7b64e1961b"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__laser.html#ga7a0ed8d0899ddec288569a373b41ad38">playerc_laser_subscribe</a> (<a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> *device, int access)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Subscribe to the laser device. <a href="#ga7a0ed8d0899ddec288569a373b41ad38"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__laser.html#gac1a9338d2991f7a362d45e9615f480d0">playerc_laser_unsubscribe</a> (<a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> *device)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Un-subscribe from the laser device. <a href="#gac1a9338d2991f7a362d45e9615f480d0"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__laser.html#ga6ce304d226b030e2171d6d7c93065fa5">playerc_laser_set_config</a> (<a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> *device, double min_angle, double max_angle, double resolution, double range_res, unsigned char intensity, double scanning_frequency)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Configure the laser. <a href="#ga6ce304d226b030e2171d6d7c93065fa5"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__laser.html#ga33505b195b10ef2f6d94792ea0665dbe">playerc_laser_get_config</a> (<a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> *device, double *min_angle, double *max_angle, double *resolution, double *range_res, unsigned char *intensity, double *scanning_frequency)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Get the laser configuration. <a href="#ga33505b195b10ef2f6d94792ea0665dbe"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__laser.html#ga26ab92c5d5869837a3b3599390816bb3">playerc_laser_get_geom</a> (<a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> *device)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Get the laser geometry. <a href="#ga26ab92c5d5869837a3b3599390816bb3"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__laser.html#gaec47d2a32d5450d57f914850ad873083">playerc_laser_get_id</a> (<a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> *device)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Get the laser IDentification information. <a href="#gaec47d2a32d5450d57f914850ad873083"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__laser.html#ga2d6769a1fcf91d95addc19854cbd5209">playerc_laser_printout</a> (<a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> *device, const char *prefix)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Print a human-readable summary of the laser state on stdout. <a href="#ga2d6769a1fcf91d95addc19854cbd5209"></a><br/></td></tr> </table> <hr/><a name="_details"></a><h2>Detailed Description</h2> <p>The laser proxy provides an interface to scanning laser range finders such as the <a class="el" href="group__driver__sicklms200.html">sicklms200</a>. </p> <p>Data is returned in the <a class="el" href="structplayerc__laser__t.html" title="Laser proxy data.">playerc_laser_t</a> structure.</p> <p>This proxy wraps the low-level <a class="el" href="group__interface__laser.html">laser</a> interface. </p> <hr/><h2>Function Documentation</h2> <a class="anchor" id="ga3a9395965643cecfd64ce041e91705ad"></a><!-- doxytag: member="playerc.h::playerc_laser_create" ref="ga3a9395965643cecfd64ce041e91705ad" args="(playerc_client_t *client, int index)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT <a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a>* playerc_laser_create </td> <td>(</td> <td class="paramtype"><a class="el" href="struct__playerc__client__t.html">playerc_client_t</a> * </td> <td class="paramname"> <em>client</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>index</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Create a laser proxy. </p> </div> </div> <a class="anchor" id="gab610776ebfc99ba62ff76a7b64e1961b"></a><!-- doxytag: member="playerc.h::playerc_laser_destroy" ref="gab610776ebfc99ba62ff76a7b64e1961b" args="(playerc_laser_t *device)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT void playerc_laser_destroy </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> * </td> <td class="paramname"> <em>device</em></td> <td> ) </td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Destroy a laser proxy. </p> </div> </div> <a class="anchor" id="ga33505b195b10ef2f6d94792ea0665dbe"></a><!-- doxytag: member="playerc.h::playerc_laser_get_config" ref="ga33505b195b10ef2f6d94792ea0665dbe" args="(playerc_laser_t *device, double *min_angle, double *max_angle, double *resolution, double *range_res, unsigned char *intensity, double *scanning_frequency)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_laser_get_config </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>min_angle</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>max_angle</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>resolution</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>range_res</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">unsigned char * </td> <td class="paramname"> <em>intensity</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>scanning_frequency</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Get the laser configuration. </p> <dl><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>device</em> </td><td>Pointer to proxy object.</td></tr> <tr><td valign="top"></td><td valign="top"><em>min_angle,max_angle</em> </td><td>Start and end angles for the scan (radians).</td></tr> <tr><td valign="top"></td><td valign="top"><em>resolution</em> </td><td>Angular resolution in radians. Valid values depend on the underlyling driver.</td></tr> <tr><td valign="top"></td><td valign="top"><em>range_res</em> </td><td>Range resolution in m. Valid values depend on the underlyling driver.</td></tr> <tr><td valign="top"></td><td valign="top"><em>intensity</em> </td><td>Intensity flag; set to 1 to enable reflection intensity data.</td></tr> <tr><td valign="top"></td><td valign="top"><em>scanning_frequency</em> </td><td>Scanning frequency in Hz. Valid values depend on the underlyling driver.</td></tr> </table> </dd> </dl> <dl class="return"><dt><b>Returns:</b></dt><dd>Returns 0 on success, non-zero otherwise. Use <a class="el" href="group__playerc__utility.html#gabc6f998b5f95a7368a3e7577e8e91dc6" title="Retrieve the last error (as a descriptive string).">playerc_error_str()</a> to get a descriptive error message. </dd></dl> </div> </div> <a class="anchor" id="ga26ab92c5d5869837a3b3599390816bb3"></a><!-- doxytag: member="playerc.h::playerc_laser_get_geom" ref="ga26ab92c5d5869837a3b3599390816bb3" args="(playerc_laser_t *device)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_laser_get_geom </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> * </td> <td class="paramname"> <em>device</em></td> <td> ) </td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Get the laser geometry. </p> <p>This writes the result into the proxy rather than returning it to the caller. </p> </div> </div> <a class="anchor" id="gaec47d2a32d5450d57f914850ad873083"></a><!-- doxytag: member="playerc.h::playerc_laser_get_id" ref="gaec47d2a32d5450d57f914850ad873083" args="(playerc_laser_t *device)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_laser_get_id </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> * </td> <td class="paramname"> <em>device</em></td> <td> ) </td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Get the laser IDentification information. </p> <p>This writes the result into the proxy rather than returning it to the caller. </p> </div> </div> <a class="anchor" id="ga2d6769a1fcf91d95addc19854cbd5209"></a><!-- doxytag: member="playerc.h::playerc_laser_printout" ref="ga2d6769a1fcf91d95addc19854cbd5209" args="(playerc_laser_t *device, const char *prefix)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT void playerc_laser_printout </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const char * </td> <td class="paramname"> <em>prefix</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Print a human-readable summary of the laser state on stdout. </p> </div> </div> <a class="anchor" id="ga6ce304d226b030e2171d6d7c93065fa5"></a><!-- doxytag: member="playerc.h::playerc_laser_set_config" ref="ga6ce304d226b030e2171d6d7c93065fa5" args="(playerc_laser_t *device, double min_angle, double max_angle, double resolution, double range_res, unsigned char intensity, double scanning_frequency)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_laser_set_config </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>min_angle</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>max_angle</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>resolution</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>range_res</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">unsigned char </td> <td class="paramname"> <em>intensity</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>scanning_frequency</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Configure the laser. </p> <dl><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>device</em> </td><td>Pointer to proxy object.</td></tr> <tr><td valign="top"></td><td valign="top"><em>min_angle,max_angle</em> </td><td>Start and end angles for the scan (radians).</td></tr> <tr><td valign="top"></td><td valign="top"><em>resolution</em> </td><td>Angular resolution in radians. Valid values depend on the underlyling driver.</td></tr> <tr><td valign="top"></td><td valign="top"><em>range_res</em> </td><td>Range resolution in m. Valid values depend on the underlyling driver.</td></tr> <tr><td valign="top"></td><td valign="top"><em>intensity</em> </td><td>Intensity flag; set to 1 to enable reflection intensity data.</td></tr> <tr><td valign="top"></td><td valign="top"><em>scanning_frequency</em> </td><td>Scanning frequency in Hz. Valid values depend on the underlyling driver.</td></tr> </table> </dd> </dl> <dl class="return"><dt><b>Returns:</b></dt><dd>Returns 0 on success, non-zero otherwise. Use <a class="el" href="group__playerc__utility.html#gabc6f998b5f95a7368a3e7577e8e91dc6" title="Retrieve the last error (as a descriptive string).">playerc_error_str()</a> to get a descriptive error message. </dd></dl> </div> </div> <a class="anchor" id="ga7a0ed8d0899ddec288569a373b41ad38"></a><!-- doxytag: member="playerc.h::playerc_laser_subscribe" ref="ga7a0ed8d0899ddec288569a373b41ad38" args="(playerc_laser_t *device, int access)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_laser_subscribe </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>access</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Subscribe to the laser device. </p> </div> </div> <a class="anchor" id="gac1a9338d2991f7a362d45e9615f480d0"></a><!-- doxytag: member="playerc.h::playerc_laser_unsubscribe" ref="gac1a9338d2991f7a362d45e9615f480d0" args="(playerc_laser_t *device)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_laser_unsubscribe </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> * </td> <td class="paramname"> <em>device</em></td> <td> ) </td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Un-subscribe from the laser device. </p> </div> </div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>