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<a href="#pub-attribs">Public Attributes</a> </div>
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<h1>playerc_laser_t Struct Reference<br/>
<small>
[<a class="el" href="group__playerc__proxy__laser.html">laser</a>]</small>
</h1> </div>
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<div class="contents">
<!-- doxytag: class="playerc_laser_t" -->
<p>Laser proxy data.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="playerc_8h_source.html">playerc.h</a>></code></p>
<p><a href="structplayerc__laser__t-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct__playerc__device__t.html">playerc_device_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#a9950dc8b6caf3907af81008f2a01eb16">info</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> info; must be at the start of all device structures. <a href="#a9950dc8b6caf3907af81008f2a01eb16"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#af1b6343e8ae19097b7e7f24920b5ab96">pose</a> [3]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent. <a href="#af1b6343e8ae19097b7e7f24920b5ab96"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab6531801383fc1d8e648dac3c9cd0333"></a><!-- doxytag: member="playerc_laser_t::size" ref="ab6531801383fc1d8e648dac3c9cd0333" args="[2]" -->
double </td><td class="memItemRight" valign="bottom"><b>size</b> [2]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af885a7e55642a0dd75d1d521d5e1ed4f"></a><!-- doxytag: member="playerc_laser_t::robot_pose" ref="af885a7e55642a0dd75d1d521d5e1ed4f" args="[3]" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#af885a7e55642a0dd75d1d521d5e1ed4f">robot_pose</a> [3]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Robot pose (m,m,rad), filled in if the scan came with a pose attached. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#ab24ba6ffa75e93d6922a71f9e85ef165">intensity_on</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Is intesity data returned. <a href="#ab24ba6ffa75e93d6922a71f9e85ef165"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#aa209f30e7bc143d314389ae601dac4a1">scan_count</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of points in the scan. <a href="#aa209f30e7bc143d314389ae601dac4a1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#ac64a2bb74f0e2bb64610bc35d91e9ea5">scan_start</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Start bearing of the scan (radians). <a href="#ac64a2bb74f0e2bb64610bc35d91e9ea5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#ab257e48dd9f681deb1f3ea9a5f943132">scan_res</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Angular resolution in radians. <a href="#ab257e48dd9f681deb1f3ea9a5f943132"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#a2b894984c5896e1917db58d0e28d4a1f">range_res</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Range resolution, in m. <a href="#a2b894984c5896e1917db58d0e28d4a1f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#aa2cc94951a82b3bc4ee216aaee41ece8">max_range</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum range of sensor, in m. <a href="#aa2cc94951a82b3bc4ee216aaee41ece8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#afa07d72a1e453041a6f9b44a9f4c6bbd">scanning_frequency</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scanning frequency in Hz. <a href="#afa07d72a1e453041a6f9b44a9f4c6bbd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double * </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#aabd106cf05b665bccc8171f240909cc6">ranges</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Raw range data; range (m). <a href="#aabd106cf05b665bccc8171f240909cc6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double(* </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#a6c7f6bb52ebc6b91a51dcff872af8179">scan</a> )[2]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scan data; range (m) and bearing (radians). <a href="#a6c7f6bb52ebc6b91a51dcff872af8179"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structplayer__point__2d.html">player_point_2d_t</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#a181239d38b8e07381f8cf5e6b7a86d94">point</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scan data; x, y position (m). <a href="#a181239d38b8e07381f8cf5e6b7a86d94"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int * </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#a08ad1a0f45197ab3562a30c5a9fcfb3d">intensity</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scan reflection intensity values (0-3). <a href="#a08ad1a0f45197ab3562a30c5a9fcfb3d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adff250da41332076e87beb8bc6c2f149"></a><!-- doxytag: member="playerc_laser_t::scan_id" ref="adff250da41332076e87beb8bc6c2f149" args="" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#adff250da41332076e87beb8bc6c2f149">scan_id</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">ID for this scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aff6e6a4a9711453cdc94bc157f38baca"></a><!-- doxytag: member="playerc_laser_t::laser_id" ref="aff6e6a4a9711453cdc94bc157f38baca" args="" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#aff6e6a4a9711453cdc94bc157f38baca">laser_id</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Laser IDentification information. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#a81cff23a69141f2cc5dbb5d897d26c1f">min_right</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Minimum range, in meters, in the right half of the scan (those ranges from the first beam, counterclockwise, up to the middle of the scan, including the middle beam, if one exists). <a href="#a81cff23a69141f2cc5dbb5d897d26c1f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__laser__t.html#ab6ef7fd7f54d082e95013679796ad47d">min_left</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the middle of the scan, counterclockwise, to the last beam). <a href="#ab6ef7fd7f54d082e95013679796ad47d"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Laser proxy data. </p>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a9950dc8b6caf3907af81008f2a01eb16"></a><!-- doxytag: member="playerc_laser_t::info" ref="a9950dc8b6caf3907af81008f2a01eb16" args="" -->
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<td class="memname"><a class="el" href="struct__playerc__device__t.html">playerc_device_t</a> <a class="el" href="structplayerc__laser__t.html#a9950dc8b6caf3907af81008f2a01eb16">playerc_laser_t::info</a></td>
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<p><a class="el" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> info; must be at the start of all device structures. </p>
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<a class="anchor" id="a08ad1a0f45197ab3562a30c5a9fcfb3d"></a><!-- doxytag: member="playerc_laser_t::intensity" ref="a08ad1a0f45197ab3562a30c5a9fcfb3d" args="" -->
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<td class="memname">int* <a class="el" href="structplayerc__laser__t.html#a08ad1a0f45197ab3562a30c5a9fcfb3d">playerc_laser_t::intensity</a></td>
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<p>Scan reflection intensity values (0-3). </p>
<p>Note that the intensity values will only be filled if intensity information is enabled (using the set_config function). </p>
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<a class="anchor" id="ab24ba6ffa75e93d6922a71f9e85ef165"></a><!-- doxytag: member="playerc_laser_t::intensity_on" ref="ab24ba6ffa75e93d6922a71f9e85ef165" args="" -->
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<td class="memname">int <a class="el" href="structplayerc__laser__t.html#ab24ba6ffa75e93d6922a71f9e85ef165">playerc_laser_t::intensity_on</a></td>
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<p>Is intesity data returned. </p>
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<a class="anchor" id="aa2cc94951a82b3bc4ee216aaee41ece8"></a><!-- doxytag: member="playerc_laser_t::max_range" ref="aa2cc94951a82b3bc4ee216aaee41ece8" args="" -->
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<td class="memname">double <a class="el" href="structplayerc__laser__t.html#aa2cc94951a82b3bc4ee216aaee41ece8">playerc_laser_t::max_range</a></td>
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<p>Maximum range of sensor, in m. </p>
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<a class="anchor" id="ab6ef7fd7f54d082e95013679796ad47d"></a><!-- doxytag: member="playerc_laser_t::min_left" ref="ab6ef7fd7f54d082e95013679796ad47d" args="" -->
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<td class="memname">double <a class="el" href="structplayerc__laser__t.html#ab6ef7fd7f54d082e95013679796ad47d">playerc_laser_t::min_left</a></td>
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<p>Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the middle of the scan, counterclockwise, to the last beam). </p>
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<a class="anchor" id="a81cff23a69141f2cc5dbb5d897d26c1f"></a><!-- doxytag: member="playerc_laser_t::min_right" ref="a81cff23a69141f2cc5dbb5d897d26c1f" args="" -->
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<td class="memname">double <a class="el" href="structplayerc__laser__t.html#a81cff23a69141f2cc5dbb5d897d26c1f">playerc_laser_t::min_right</a></td>
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<p>Minimum range, in meters, in the right half of the scan (those ranges from the first beam, counterclockwise, up to the middle of the scan, including the middle beam, if one exists). </p>
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<a class="anchor" id="a181239d38b8e07381f8cf5e6b7a86d94"></a><!-- doxytag: member="playerc_laser_t::point" ref="a181239d38b8e07381f8cf5e6b7a86d94" args="" -->
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<td class="memname"><a class="el" href="structplayer__point__2d.html">player_point_2d_t</a>* <a class="el" href="structplayerc__laser__t.html#a181239d38b8e07381f8cf5e6b7a86d94">playerc_laser_t::point</a></td>
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<p>Scan data; x, y position (m). </p>
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<a class="anchor" id="af1b6343e8ae19097b7e7f24920b5ab96"></a><!-- doxytag: member="playerc_laser_t::pose" ref="af1b6343e8ae19097b7e7f24920b5ab96" args="[3]" -->
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<td class="memname">double <a class="el" href="structplayerc__laser__t.html#af1b6343e8ae19097b7e7f24920b5ab96">playerc_laser_t::pose</a>[3]</td>
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<p>Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent. </p>
<p>These values are filled in by <a class="el" href="group__playerc__proxy__laser.html#ga26ab92c5d5869837a3b3599390816bb3" title="Get the laser geometry.">playerc_laser_get_geom()</a>. </p>
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<td class="memname">double <a class="el" href="structplayerc__laser__t.html#a2b894984c5896e1917db58d0e28d4a1f">playerc_laser_t::range_res</a></td>
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<p>Range resolution, in m. </p>
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<td class="memname">double* <a class="el" href="structplayerc__laser__t.html#aabd106cf05b665bccc8171f240909cc6">playerc_laser_t::ranges</a></td>
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<p>Raw range data; range (m). </p>
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<a class="anchor" id="a6c7f6bb52ebc6b91a51dcff872af8179"></a><!-- doxytag: member="playerc_laser_t::scan" ref="a6c7f6bb52ebc6b91a51dcff872af8179" args=")[2]" -->
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<td class="memname">double(* <a class="el" href="structplayerc__laser__t.html#a6c7f6bb52ebc6b91a51dcff872af8179">playerc_laser_t::scan</a>)[2]</td>
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<p>Scan data; range (m) and bearing (radians). </p>
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<a class="anchor" id="aa209f30e7bc143d314389ae601dac4a1"></a><!-- doxytag: member="playerc_laser_t::scan_count" ref="aa209f30e7bc143d314389ae601dac4a1" args="" -->
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<td class="memname">int <a class="el" href="structplayerc__laser__t.html#aa209f30e7bc143d314389ae601dac4a1">playerc_laser_t::scan_count</a></td>
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<p>Number of points in the scan. </p>
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<a class="anchor" id="ab257e48dd9f681deb1f3ea9a5f943132"></a><!-- doxytag: member="playerc_laser_t::scan_res" ref="ab257e48dd9f681deb1f3ea9a5f943132" args="" -->
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<td class="memname">double <a class="el" href="structplayerc__laser__t.html#ab257e48dd9f681deb1f3ea9a5f943132">playerc_laser_t::scan_res</a></td>
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<p>Angular resolution in radians. </p>
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<a class="anchor" id="ac64a2bb74f0e2bb64610bc35d91e9ea5"></a><!-- doxytag: member="playerc_laser_t::scan_start" ref="ac64a2bb74f0e2bb64610bc35d91e9ea5" args="" -->
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<td class="memname">double <a class="el" href="structplayerc__laser__t.html#ac64a2bb74f0e2bb64610bc35d91e9ea5">playerc_laser_t::scan_start</a></td>
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<p>Start bearing of the scan (radians). </p>
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<a class="anchor" id="afa07d72a1e453041a6f9b44a9f4c6bbd"></a><!-- doxytag: member="playerc_laser_t::scanning_frequency" ref="afa07d72a1e453041a6f9b44a9f4c6bbd" args="" -->
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<td class="memname">double <a class="el" href="structplayerc__laser__t.html#afa07d72a1e453041a6f9b44a9f4c6bbd">playerc_laser_t::scanning_frequency</a></td>
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<p>Scanning frequency in Hz. </p>
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<hr/>The documentation for this struct was generated from the following file:<ul>
<li><a class="el" href="playerc_8h_source.html">playerc.h</a></li>
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