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<div class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_b30b67338ad6ec257b32e456565bd9e4.html">hokuyo_aist</a>
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<h1>hokuyo_aist.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span>
<a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2008 Geoffrey Biggs</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * hokuyo_aist Hokuyo laser scanner driver.</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> * This distribution is licensed to you under the terms described in the LICENSE file included in</span>
<a name="l00009"></a>00009 <span class="comment"> * this distribution.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * This work is a product of the National Institute of Advanced Industrial Science and Technology,</span>
<a name="l00012"></a>00012 <span class="comment"> * Japan. Registration number: H20PRO-880</span>
<a name="l00013"></a>00013 <span class="comment"> *</span>
<a name="l00014"></a>00014 <span class="comment"> * This file is part of hokuyo_aist.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * hokuyo_aist is free software: you can redistribute it and/or modify it under the terms of the GNU</span>
<a name="l00017"></a>00017 <span class="comment"> * Lesser General Public License as published by the Free Software Foundation, either version 3 of</span>
<a name="l00018"></a>00018 <span class="comment"> * the License, or (at your option) any later version.</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> * hokuyo_aist is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without</span>
<a name="l00021"></a>00021 <span class="comment"> * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00022"></a>00022 <span class="comment"> * Lesser General Public License for more details.</span>
<a name="l00023"></a>00023 <span class="comment"> *</span>
<a name="l00024"></a>00024 <span class="comment"> * You should have received a copy of the GNU Lesser General Public License along with hokuyo_aist.</span>
<a name="l00025"></a>00025 <span class="comment"> * If not, see <http://www.gnu.org/licenses/>.</span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef __HOKUYO_AIST_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define __HOKUYO_AIST_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <flexiport/port.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <string></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#if defined (WIN32)</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span> <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> uint8_t;
<a name="l00036"></a>00036 <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> uint32_t;
<a name="l00037"></a>00037 <span class="preprocessor"> #if defined (HOKUYO_AIST_STATIC)</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor"> #define HOKUYO_AIST_EXPORT</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor"> #elif defined (HOKUYO_AIST_EXPORTS)</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor"> #define HOKUYO_AIST_EXPORT __declspec (dllexport)</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor"> #else</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor"> #define HOKUYO_AIST_EXPORT __declspec (dllimport)</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor"> #endif</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor"> #include <stdint.h></span>
<a name="l00046"></a>00046 <span class="preprocessor"> #define HOKUYO_AIST_EXPORT</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00053"></a>00053 <span class="keyword">namespace </span>hokuyo_aist
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055
<a name="l00057"></a><a class="code" href="classhokuyo__aist_1_1HokuyoError.html">00057</a> <span class="keyword">class </span>HOKUYO_AIST_EXPORT <a class="code" href="classhokuyo__aist_1_1HokuyoError.html" title="Hokuyo general error class.">HokuyoError</a> : <span class="keyword">public</span> std::exception
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <span class="keyword">public</span>:
<a name="l00064"></a><a class="code" href="classhokuyo__aist_1_1HokuyoError.html#a210965a8077e0eed1e4024cc345d16fd">00064</a> <a class="code" href="classhokuyo__aist_1_1HokuyoError.html" title="Hokuyo general error class.">HokuyoError</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> code, std::string desc)
<a name="l00065"></a>00065 : _errorCode (code), _errorDesc (desc)
<a name="l00066"></a>00066 {}
<a name="l00067"></a>00067 <span class="keyword">virtual</span> ~<a class="code" href="classhokuyo__aist_1_1HokuyoError.html" title="Hokuyo general error class.">HokuyoError</a> () throw () {};
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> Code () <span class="keyword">const</span> throw ()
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 <span class="keywordflow">return</span> _errorCode;
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* what () <span class="keyword">const</span> throw ()
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 <span class="keywordflow">return</span> _errorDesc.c_str ();
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keyword">virtual</span> std::string AsString () <span class="keyword">const</span> throw();
<a name="l00080"></a>00080
<a name="l00081"></a>00081 private:
<a name="l00083"></a>00083 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _errorCode;
<a name="l00085"></a>00085 std::<span class="keywordtype">string</span> _errorDesc;
<a name="l00086"></a>00086 };
<a name="l00087"></a>00087 <span class="preprocessor">#if defined (WIN32)</span>
<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="comment">// Exporting data members on Windows is a bloody pain (they have to be initialised somewhere else),</span>
<a name="l00089"></a>00089 <span class="comment">// so we'll use #define's on Win32 and lose the type safety.</span>
<a name="l00091"></a>00091 <span class="comment"></span><span class="preprocessor">#define HOKUYO_ERR_READ 1</span>
<a name="l00092"></a>00092 <span class="preprocessor"></span>
<a name="l00093"></a>00093 <span class="preprocessor">#define HOKUYO_ERR_WRITE 2</span>
<a name="l00094"></a>00094 <span class="preprocessor"></span>
<a name="l00095"></a>00095 <span class="preprocessor">#define HOKUYO_ERR_PROTOCOL 3</span>
<a name="l00096"></a>00096 <span class="preprocessor"></span>
<a name="l00097"></a>00097 <span class="preprocessor">#define HOKUYO_ERR_CHANGEBAUD 4</span>
<a name="l00098"></a>00098 <span class="preprocessor"></span>
<a name="l00099"></a>00099 <span class="preprocessor">#define HOKUYO_ERR_CONNECT_FAILED 5</span>
<a name="l00100"></a>00100 <span class="preprocessor"></span>
<a name="l00101"></a>00101 <span class="preprocessor">#define HOKUYO_ERR_CLOSE_FAILED 6</span>
<a name="l00102"></a>00102 <span class="preprocessor"></span>
<a name="l00103"></a>00103 <span class="preprocessor">#define HOKUYO_ERR_NODESTINATION 7</span>
<a name="l00104"></a>00104 <span class="preprocessor"></span>
<a name="l00105"></a>00105 <span class="preprocessor">#define HOKUYO_ERR_BADFIRMWARE 8</span>
<a name="l00106"></a>00106 <span class="preprocessor"></span>
<a name="l00107"></a>00107 <span class="preprocessor">#define HOKUYO_ERR_SCIPVERSION 9</span>
<a name="l00108"></a>00108 <span class="preprocessor"></span>
<a name="l00109"></a>00109 <span class="preprocessor">#define HOKUYO_ERR_MEMORY 10</span>
<a name="l00110"></a>00110 <span class="preprocessor"></span>
<a name="l00111"></a>00111 <span class="preprocessor">#define HOKUYO_ERR_UNSUPPORTED 11</span>
<a name="l00112"></a>00112 <span class="preprocessor"></span>
<a name="l00113"></a>00113 <span class="preprocessor">#define HOKUYO_ERR_BADARG 12</span>
<a name="l00114"></a>00114 <span class="preprocessor"></span>
<a name="l00115"></a>00115 <span class="preprocessor">#define HOKUYO_ERR_NODATA 13</span>
<a name="l00116"></a>00116 <span class="preprocessor"></span>
<a name="l00117"></a>00117 <span class="preprocessor">#define HOKUYO_ERR_NOTSERIAL 14</span>
<a name="l00118"></a>00118 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00119"></a>00119 <span class="preprocessor"></span>
<a name="l00120"></a><a class="code" href="namespacehokuyo__aist.html#a705a9f8a6f08e713b42f304d86ea1ccb">00120</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#a705a9f8a6f08e713b42f304d86ea1ccb" title="Read error while reading from the laser.">HOKUYO_ERR_READ</a> = 1;
<a name="l00122"></a><a class="code" href="namespacehokuyo__aist.html#affb1c5483476962cce78ca81a954e424">00122</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#affb1c5483476962cce78ca81a954e424" title="Write error while writing to the laser.">HOKUYO_ERR_WRITE</a> = 2;
<a name="l00124"></a><a class="code" href="namespacehokuyo__aist.html#aa49e13dcee633b7abe908814e129445c">00124</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#aa49e13dcee633b7abe908814e129445c" title="Error in the SCIP protocol.">HOKUYO_ERR_PROTOCOL</a> = 3;
<a name="l00126"></a><a class="code" href="namespacehokuyo__aist.html#a8077b8a6df8c1910507c64e3056d03f4">00126</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#a8077b8a6df8c1910507c64e3056d03f4" title="Error while changing baud rate.">HOKUYO_ERR_CHANGEBAUD</a> = 4;
<a name="l00128"></a><a class="code" href="namespacehokuyo__aist.html#ab4ac0dc80192d783fdd087b7149c5d7d">00128</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#ab4ac0dc80192d783fdd087b7149c5d7d" title="Failed to connect to the laser.">HOKUYO_ERR_CONNECT_FAILED</a> = 5;
<a name="l00130"></a><a class="code" href="namespacehokuyo__aist.html#a87ac2737104e76099a6d430d2e68727f">00130</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#a87ac2737104e76099a6d430d2e68727f" title="Failed to close a port.">HOKUYO_ERR_CLOSE_FAILED</a> = 6;
<a name="l00132"></a><a class="code" href="namespacehokuyo__aist.html#a604f0a8482728256546d812eedc0085e">00132</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#a604f0a8482728256546d812eedc0085e" title="No destination buffer provided for range readings.">HOKUYO_ERR_NODESTINATION</a> = 7;
<a name="l00134"></a><a class="code" href="namespacehokuyo__aist.html#a64f8b02e8dd3aa5453ecf303a8330273">00134</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#a64f8b02e8dd3aa5453ecf303a8330273" title="Bad firmware version.">HOKUYO_ERR_BADFIRMWARE</a> = 8;
<a name="l00136"></a><a class="code" href="namespacehokuyo__aist.html#ad3be4c39f135a32f047d2fb0c8d06611">00136</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#ad3be4c39f135a32f047d2fb0c8d06611" title="Unknown/unsupported SCIP protocol version.">HOKUYO_ERR_SCIPVERSION</a> = 9;
<a name="l00138"></a><a class="code" href="namespacehokuyo__aist.html#ae92c33d007da3a99bd6dd31f07603884">00138</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#ae92c33d007da3a99bd6dd31f07603884" title="Memory allocation error.">HOKUYO_ERR_MEMORY</a> = 10;
<a name="l00140"></a><a class="code" href="namespacehokuyo__aist.html#a8be9e8b042a80a77466833c966f03ce9">00140</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#a8be9e8b042a80a77466833c966f03ce9" title="Unsupported function error.">HOKUYO_ERR_UNSUPPORTED</a> = 11;
<a name="l00142"></a><a class="code" href="namespacehokuyo__aist.html#a695cfff24a77b02a752aaf6873b36759">00142</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#a695cfff24a77b02a752aaf6873b36759" title="Argument error.">HOKUYO_ERR_BADARG</a> = 12;
<a name="l00144"></a><a class="code" href="namespacehokuyo__aist.html#ae7ab6c0f02b12aba8e44efc819d4f1ab">00144</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#ae7ab6c0f02b12aba8e44efc819d4f1ab" title="No data received error.">HOKUYO_ERR_NODATA</a> = 13;
<a name="l00146"></a><a class="code" href="namespacehokuyo__aist.html#a0bbd839c3fd33935d61a4286e6e8415a">00146</a> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespacehokuyo__aist.html#a0bbd839c3fd33935d61a4286e6e8415a" title="Not a serial connection error.">HOKUYO_ERR_NOTSERIAL</a> = 14;
<a name="l00147"></a>00147 <span class="preprocessor">#endif // defined (WIN32)</span>
<a name="l00148"></a>00148 <span class="preprocessor"></span>
<a name="l00153"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html">00153</a> <span class="keyword">class </span>HOKUYO_AIST_EXPORT <a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a>
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155 <span class="keyword">public</span>:
<a name="l00156"></a>00156 <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html" title="Hokuyo laser scanner class.">HokuyoLaser</a>;
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a> ();
<a name="l00159"></a>00159 <a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a> (<span class="keyword">const</span> <a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a> &rhs);
<a name="l00160"></a>00160
<a name="l00162"></a>00162 <a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a>& operator= (<span class="keyword">const</span> <a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a> &rhs);
<a name="l00163"></a>00163
<a name="l00165"></a>00165 std::string AsString ();
<a name="l00166"></a>00166
<a name="l00167"></a>00167 <span class="comment">// Version details.</span>
<a name="l00169"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a3c539eeaca6c63f734577f3cf629070f">00169</a> <span class="comment"></span> std::string vendor;
<a name="l00171"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a27a88db8dc9cf8559d13b782131c4873">00171</a> std::string product;
<a name="l00173"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a7241430b7538060ee16258febbdca8ea">00173</a> std::string firmware;
<a name="l00175"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a5e81137c39435224f9301b21572fee88">00175</a> std::string protocol;
<a name="l00177"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a2b6257a6de8d059d5e6fa71a1b2589ea">00177</a> std::string serial;
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="comment">// Specification details.</span>
<a name="l00181"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a9ae748b0a6f322aa56b7506416b67735">00181</a> <span class="comment"></span> std::string model;
<a name="l00183"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#add1c61a645afe9a32026223e3a621d51">00183</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minRange;
<a name="l00185"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a8a2ba1003cb5a2f166eb838c2cf32155">00185</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxRange;
<a name="l00187"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a9936958f1eb6165f0bd5903e1918b430">00187</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps;
<a name="l00189"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a1bca622adcf1f627846038ee801cf6f0">00189</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> firstStep;
<a name="l00191"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a3652d97722db81441e07f7c0d4c4b0f5">00191</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lastStep;
<a name="l00193"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#ad8a8325ede8f51193649b5ebe09473d6">00193</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> frontStep;
<a name="l00195"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a29da16b512a148a42271d071769104fc">00195</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> standardSpeed;
<a name="l00196"></a>00196
<a name="l00197"></a>00197 <span class="comment">// Status details.</span>
<a name="l00199"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a8b8ec4e5f30da9e0b099220bf44e11b6">00199</a> <span class="comment"></span> <span class="keywordtype">bool</span> power;
<a name="l00201"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#aae07cc08e1a71181346380a15f84301b">00201</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> speed;
<a name="l00203"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#abbccc87cf33443209ead0fa9201dd6cf">00203</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> speedLevel;
<a name="l00205"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a43cb96ab754ae98b36a6b7e419a3a6f6">00205</a> std::string measureState;
<a name="l00207"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#aee0af7d286f8514d1c8ccf54d71eb6b3">00207</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> baud;
<a name="l00209"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a6e1e8c961a25633af4de2fe51875844c">00209</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> time;
<a name="l00211"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a2df24e286a39f47680022f66eac5f4a6">00211</a> std::string sensorDiagnostic;
<a name="l00212"></a>00212
<a name="l00213"></a>00213 <span class="comment">// Calculated details</span>
<a name="l00216"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a4b38d1a9da92ea22e9a3920b261c9b17">00216</a> <span class="comment"></span> <span class="keywordtype">double</span> minAngle;
<a name="l00219"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a94569d9e5f2d8fded0d1cf23689b26fe">00219</a> <span class="keywordtype">double</span> maxAngle;
<a name="l00221"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a96e6f1a6ccbed1aad3b7259e94e330bd">00221</a> <span class="keywordtype">double</span> resolution;
<a name="l00223"></a><a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html#a449f242f4cd6da22f6969d15cead538d">00223</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> scanableSteps;
<a name="l00224"></a>00224
<a name="l00225"></a>00225 <span class="keyword">private</span>:
<a name="l00226"></a>00226 <span class="keywordtype">void</span> SetDefaults ();
<a name="l00227"></a>00227 <span class="keywordtype">void</span> CalculateValues ();
<a name="l00228"></a>00228 };
<a name="l00229"></a>00229
<a name="l00231"></a><a class="code" href="classhokuyo__aist_1_1HokuyoData.html">00231</a> <span class="keyword">class </span>HOKUYO_AIST_EXPORT <a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a>
<a name="l00232"></a>00232 {
<a name="l00233"></a>00233 <span class="keyword">public</span>:
<a name="l00234"></a>00234 <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html" title="Hokuyo laser scanner class.">HokuyoLaser</a>;
<a name="l00235"></a>00235
<a name="l00237"></a>00237 <a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> ();
<a name="l00239"></a>00239 <a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> (uint32_t *ranges, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> length, <span class="keywordtype">bool</span> error, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> time);
<a name="l00241"></a>00241 <a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> (uint32_t *ranges, uint32_t *intensities, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> length,
<a name="l00242"></a>00242 <span class="keywordtype">bool</span> error, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> time);
<a name="l00244"></a>00244 <a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> (<span class="keyword">const</span> <a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> &rhs);
<a name="l00245"></a>00245 ~<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> ();
<a name="l00246"></a>00246
<a name="l00251"></a><a class="code" href="classhokuyo__aist_1_1HokuyoData.html#a7566fb7b1de34f4be3c8aab64fe7c023">00251</a> <span class="keyword">const</span> uint32_t* <a class="code" href="classhokuyo__aist_1_1HokuyoData.html#a7566fb7b1de34f4be3c8aab64fe7c023" title="Return a pointer to an array of range readings in millimetres.">Ranges</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _ranges; }
<a name="l00253"></a><a class="code" href="classhokuyo__aist_1_1HokuyoData.html#ac7ec6d8bb176e4fcc4744f969b6882c4">00253</a> <span class="keyword">const</span> uint32_t* <a class="code" href="classhokuyo__aist_1_1HokuyoData.html#ac7ec6d8bb176e4fcc4744f969b6882c4" title="Return a pointer to an array of intensity readings.">Intensities</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _intensities; }
<a name="l00255"></a><a class="code" href="classhokuyo__aist_1_1HokuyoData.html#a14106aea195e4a6969367056b00a8cf1">00255</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classhokuyo__aist_1_1HokuyoData.html#a14106aea195e4a6969367056b00a8cf1" title="Get the number of samples in the data.">Length</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _length; }
<a name="l00260"></a><a class="code" href="classhokuyo__aist_1_1HokuyoData.html#a5ddea552d02515f49eca75c5391d2808">00260</a> <span class="keywordtype">bool</span> <a class="code" href="classhokuyo__aist_1_1HokuyoData.html#a5ddea552d02515f49eca75c5391d2808" title="Indicates if one or more steps had an error.">GetErrorStatus</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _error; }
<a name="l00262"></a>00262 std::string ErrorCodeToString (uint32_t errorCode);
<a name="l00265"></a><a class="code" href="classhokuyo__aist_1_1HokuyoData.html#ad4c476f1045cbb52fa09310e7ef31eff">00265</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classhokuyo__aist_1_1HokuyoData.html#ad4c476f1045cbb52fa09310e7ef31eff" title="Get the time stamp of the data in milliseconds (only available using SCIP version...">TimeStamp</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _time; }
<a name="l00266"></a>00266
<a name="l00268"></a>00268 <a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a>& operator= (<span class="keyword">const</span> <a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> &rhs);
<a name="l00270"></a>00270 uint32_t operator[] (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index);
<a name="l00271"></a>00271
<a name="l00273"></a>00273 std::string AsString ();
<a name="l00274"></a>00274
<a name="l00276"></a>00276 <span class="keywordtype">void</span> CleanUp ();
<a name="l00277"></a>00277
<a name="l00278"></a>00278 <span class="keyword">protected</span>:
<a name="l00279"></a>00279 uint32_t *_ranges;
<a name="l00280"></a>00280 uint32_t *_intensities;
<a name="l00281"></a>00281 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _length;
<a name="l00282"></a>00282 <span class="keywordtype">bool</span> _error;
<a name="l00283"></a>00283 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _time;
<a name="l00284"></a>00284 <span class="keywordtype">bool</span> _sensorIsUTM30LX;
<a name="l00285"></a>00285
<a name="l00286"></a>00286 <span class="keywordtype">void</span> AllocateData (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> length, <span class="keywordtype">bool</span> includeIntensities = <span class="keyword">false</span>);
<a name="l00287"></a>00287 };
<a name="l00288"></a>00288
<a name="l00300"></a><a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html">00300</a> <span class="keyword">class </span>HOKUYO_AIST_EXPORT <a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html" title="Hokuyo laser scanner class.">HokuyoLaser</a>
<a name="l00301"></a>00301 {
<a name="l00302"></a>00302 <span class="keyword">public</span>:
<a name="l00303"></a>00303 <a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html" title="Hokuyo laser scanner class.">HokuyoLaser</a> ();
<a name="l00304"></a>00304 ~<a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html" title="Hokuyo laser scanner class.">HokuyoLaser</a> ();
<a name="l00305"></a>00305
<a name="l00307"></a>00307 <span class="keywordtype">void</span> Open (std::string portOptions);
<a name="l00308"></a>00308
<a name="l00317"></a>00317 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> OpenWithProbing (std::string portOptions);
<a name="l00318"></a>00318
<a name="l00320"></a>00320 <span class="keywordtype">void</span> Close ();
<a name="l00321"></a>00321
<a name="l00323"></a>00323 <span class="keywordtype">bool</span> IsOpen () <span class="keyword">const</span>;
<a name="l00324"></a>00324
<a name="l00326"></a>00326 <span class="keywordtype">void</span> SetPower (<span class="keywordtype">bool</span> on);
<a name="l00327"></a>00327
<a name="l00332"></a>00332 <span class="keywordtype">void</span> SetBaud (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> baud);
<a name="l00333"></a>00333
<a name="l00337"></a>00337 <span class="keywordtype">void</span> Reset ();
<a name="l00338"></a>00338
<a name="l00348"></a>00348 <span class="keywordtype">void</span> SetMotorSpeed (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> speed);
<a name="l00349"></a>00349
<a name="l00351"></a>00351 <span class="keywordtype">void</span> SetHighSensitivity (<span class="keywordtype">bool</span> on);
<a name="l00352"></a>00352
<a name="l00356"></a>00356 <span class="keywordtype">void</span> GetSensorInfo (<a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a> *info);
<a name="l00357"></a>00357
<a name="l00361"></a>00361 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetTime ();
<a name="l00362"></a>00362
<a name="l00379"></a>00379 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetRanges (<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> *data, <span class="keywordtype">int</span> startStep = -1, <span class="keywordtype">int</span> endStep = -1,
<a name="l00380"></a>00380 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> clusterCount = 1);
<a name="l00381"></a>00381
<a name="l00392"></a>00392 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetRangesByAngle (<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> *data, <span class="keywordtype">double</span> startAngle, <span class="keywordtype">double</span> endAngle,
<a name="l00393"></a>00393 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> clusterCount = 1);
<a name="l00394"></a>00394
<a name="l00416"></a>00416 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetNewRanges (<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> *data, <span class="keywordtype">int</span> startStep = -1, <span class="keywordtype">int</span> endStep = -1,
<a name="l00417"></a>00417 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> clusterCount = 1);
<a name="l00418"></a>00418
<a name="l00431"></a>00431 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetNewRangesByAngle (<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> *data, <span class="keywordtype">double</span> startAngle, <span class="keywordtype">double</span> endAngle,
<a name="l00432"></a>00432 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> clusterCount = 1);
<a name="l00433"></a>00433
<a name="l00454"></a>00454 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetNewRangesAndIntensities (<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> *data, <span class="keywordtype">int</span> startStep = -1,
<a name="l00455"></a>00455 <span class="keywordtype">int</span> endStep = -1, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> clusterCount = 1);
<a name="l00456"></a>00456
<a name="l00469"></a>00469 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetNewRangesAndIntensitiesByAngle (<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> *data, <span class="keywordtype">double</span> startAngle,
<a name="l00470"></a>00470 <span class="keywordtype">double</span> endAngle, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> clusterCount = 1);
<a name="l00471"></a>00471
<a name="l00473"></a><a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html#aae0c39e7fa14efa138f3be02693a2102">00473</a> uint8_t <a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html#aae0c39e7fa14efa138f3be02693a2102" title="Return the major version of the SCIP protocol in use.">SCIPVersion</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _scipVersion; }
<a name="l00474"></a>00474
<a name="l00477"></a><a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html#a407ad6f56a401c15b61be5e1926c3962">00477</a> <span class="keywordtype">void</span> <a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html#a407ad6f56a401c15b61be5e1926c3962" title="Turns on and off printing of verbose operating information to stderr. Default is...">SetVerbose</a> (<span class="keywordtype">bool</span> verbose) { _verbose = verbose; }
<a name="l00478"></a>00478
<a name="l00481"></a><a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html#a5d1e4be1141a984f1f3d467ccbba4dd0">00481</a> <span class="keywordtype">void</span> <a class="code" href="classhokuyo__aist_1_1HokuyoLaser.html#a5d1e4be1141a984f1f3d467ccbba4dd0" title="Enables/disables ignoring unknown lines in sensor info messages. Default is off.">IgnoreUnknowns</a> (<span class="keywordtype">bool</span> ignore) { _ignoreUnknowns = ignore; }
<a name="l00482"></a>00482
<a name="l00484"></a>00484 <span class="keywordtype">double</span> StepToAngle (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> step);
<a name="l00486"></a>00486 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> AngleToStep (<span class="keywordtype">double</span> angle);
<a name="l00487"></a>00487
<a name="l00488"></a>00488 <span class="keyword">private</span>:
<a name="l00489"></a>00489 <a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">flexiport::Port</a> *_port;
<a name="l00490"></a>00490
<a name="l00491"></a>00491 uint8_t _scipVersion;
<a name="l00492"></a>00492 <span class="keywordtype">bool</span> _verbose, _sensorIsUTM30LX, _enableCheckSumWorkaround, _ignoreUnknowns;
<a name="l00493"></a>00493 <span class="keywordtype">double</span> _minAngle, _maxAngle, _resolution;
<a name="l00494"></a>00494 <span class="keywordtype">int</span> _firstStep, _lastStep, _frontStep;
<a name="l00495"></a>00495 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _maxRange;
<a name="l00496"></a>00496
<a name="l00497"></a>00497 <span class="keywordtype">void</span> ClearReadBuffer ();
<a name="l00498"></a>00498 <span class="keywordtype">int</span> ReadLine (<span class="keywordtype">char</span> *buffer, <span class="keywordtype">int</span> expectedLength = -1);
<a name="l00499"></a>00499 <span class="keywordtype">int</span> ReadLineWithCheck (<span class="keywordtype">char</span> *buffer, <span class="keywordtype">int</span> expectedLength = -1, <span class="keywordtype">bool</span> hasSemicolon = <span class="keyword">false</span>);
<a name="l00500"></a>00500 <span class="keywordtype">void</span> SkipLines (<span class="keywordtype">int</span> count);
<a name="l00501"></a>00501 <span class="keywordtype">int</span> SendCommand (<span class="keyword">const</span> <span class="keywordtype">char</span> *cmd, <span class="keyword">const</span> <span class="keywordtype">char</span> *param, <span class="keywordtype">int</span> paramLength, <span class="keyword">const</span> <span class="keywordtype">char</span> *extraOK);
<a name="l00502"></a>00502
<a name="l00503"></a>00503 <span class="keywordtype">void</span> GetAndSetSCIPVersion ();
<a name="l00504"></a>00504 <span class="keywordtype">void</span> GetDefaults ();
<a name="l00505"></a>00505 <span class="keywordtype">void</span> ProcessVVLine (<span class="keyword">const</span> <span class="keywordtype">char</span> *buffer, <a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a> *info);
<a name="l00506"></a>00506 <span class="keywordtype">void</span> ProcessPPLine (<span class="keyword">const</span> <span class="keywordtype">char</span> *buffer, <a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a> *info);
<a name="l00507"></a>00507 <span class="keywordtype">void</span> ProcessIILine (<span class="keyword">const</span> <span class="keywordtype">char</span> *buffer, <a class="code" href="classhokuyo__aist_1_1HokuyoSensorInfo.html" title="Sensor information.">HokuyoSensorInfo</a> *info);
<a name="l00508"></a>00508 <span class="keywordtype">void</span> Read2ByteRangeData (<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> *data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numSteps);
<a name="l00509"></a>00509 <span class="keywordtype">void</span> Read3ByteRangeData (<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> *data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numSteps);
<a name="l00510"></a>00510 <span class="keywordtype">void</span> Read3ByteRangeAndIntensityData (<a class="code" href="classhokuyo__aist_1_1HokuyoData.html" title="Structure to store data returned from the laser scanner.">HokuyoData</a> *data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numSteps);
<a name="l00511"></a>00511
<a name="l00512"></a>00512 <span class="keywordtype">int</span> ConfirmCheckSum (<span class="keyword">const</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">int</span> length, <span class="keywordtype">int</span> expectedSum);
<a name="l00513"></a>00513 };
<a name="l00514"></a>00514
<a name="l00515"></a>00515 } <span class="comment">// namespace hokuyo_aist</span>
<a name="l00516"></a>00516
<a name="l00519"></a>00519 <span class="preprocessor">#endif // __HOKUYO_AIST_H</span>
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