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<strong>INTRODUCTION</strong><br>
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<h1>GbxSickAcfr<br/>
<small>
[<a class="el" href="group__gbx__libs.html">Libraries</a>, <a class="el" href="group__gbx__hardware.html">Hardware Drivers</a>, <a class="el" href="group__gbx__cpp.html">C++</a>, <a class="el" href="group__gbx__linux.html">Linux</a>]</small>
</h1>
<p>ACFR driver for SICK laser range-finder.
<a href="#_details">More...</a></p>
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<p>ACFR driver for SICK laser range-finder. </p>
<p>Drives SICK hardware, directly connected to the computer. For a full list of classes and functions, see <a class="el" href="namespacegbxsickacfr.html">gbxsickacfr</a>.</p>
<dl class="user"><dt><b>Header file</b></dt><dd></dd></dl>
<div class="fragment"><pre class="fragment">
#include <gbxsickacfr/driver.h>
</pre></div><dl class="user"><dt><b>Example</b></dt><dd>See test/test.cpp</dd></dl>
<dl class="user"><dt><b>Style</b></dt><dd>See <a href="http://orca-robotics.sourceforge.net/orca/orca_doc_style.html">http://orca-robotics.sourceforge.net/orca/orca_doc_style.html</a></dd></dl>
<dl class="user"><dt><b>Units and Coordinate System</b></dt><dd>See <a href="http://orca-robotics.sourceforge.net/orca/orca_doc_units.html">http://orca-robotics.sourceforge.net/orca/orca_doc_units.html</a></dd></dl>
<dl class="user"><dt><b>Copyright</b></dt><dd>Alex Brooks, Alexei Makarenko, Tobias Kaupp</dd></dl>
<dl class="user"><dt><b>Responsible Developer</b></dt><dd>Alex Brooks</dd></dl>
<dl class="user"><dt><b>License</b></dt><dd>LGPL</dd></dl>
<dl class="user"><dt><b>Dependencies</b></dt><dd></dd></dl>
<ul>
<li>libIceUtil (for timing/threads/mutexes), v.3.2 or newer (latest tested 3.3).</li>
<li><a class="el" href="group__gbx__library__gbxserialacfr.html">libGbxSerialAcfr</a></li>
</ul>
<dl class="user"><dt><b>Installation</b></dt><dd></dd></dl>
<ul>
<li>Finding libIceUtil<ul>
<li>IceUtil will be found automatically if installed in one of several standard locations.</li>
<li>You can specify it's installation point with <code>ICEUTIL_HOME</code> CMake variable (or an environment variable with the same name). For example: <div class="fragment"><pre class="fragment">
$ cmake -DICEUTIL_HOME=/home/myuser/install .
</pre></div></li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Limitations</b></dt><dd></dd></dl>
<ul>
<li>This is a Linux-only implementation.</li>
<li>It works with those serial devices which <a class="el" href="group__gbx__library__gbxserialacfr.html">libGbxSerialAcfr</a> supports.</li>
<li>Currently, timestamps are generated whenever a <b>full</b> message arrives. This is sub-optimal, since the message may take a significant amount of time to be transmitted over the serial interface. eg. 181 samples at 38400 baud takes about 75ms. An improvement would be to timestamp the start of each message, remembering that timestamp for subsequent reads from the serial port until the end of the message finally arrives.</li>
<li>Has been tested with: LMS-291, LMS-211. </li>
</ul>
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