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player-doc-3.0.2-5.fc14.noarch.rpm

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  <div class="navpath">
    <ul>
      <li><b>PlayerCc</b>      </li>
      <li><a class="el" href="classPlayerCc_1_1LaserProxy.html">PlayerCc::LaserProxy</a>      </li>
    </ul>
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-methods">Private Member Functions</a> &#124;
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  <div class="headertitle">
<h1>PlayerCc::LaserProxy Class Reference<br/>
<small>
[<a class="el" href="group__player__clientlib__cplusplus__proxies.html">Proxies</a>]</small>
</h1>  </div>
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<div class="contents">
<!-- doxytag: class="PlayerCc::LaserProxy" --><!-- doxytag: inherits="PlayerCc::ClientProxy" -->
<p>The <code><a class="el" href="classPlayerCc_1_1LaserProxy.html" title="The LaserProxy class is used to control a laser device.">LaserProxy</a></code> class is used to control a <a class="el" href="group__interface__laser.html">laser</a> device.  
<a href="#_details">More...</a></p>

<p><code>#include &lt;<a class="el" href="playerc_09_09_8h_source.html">playerc++.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for PlayerCc::LaserProxy:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classPlayerCc_1_1LaserProxy.png" usemap="#PlayerCc::LaserProxy_map" alt=""/>
  <map id="PlayerCc::LaserProxy_map" name="PlayerCc::LaserProxy_map">
<area href="classPlayerCc_1_1ClientProxy.html" alt="PlayerCc::ClientProxy" shape="rect" coords="0,0,136,24"/>
</map>
</div>

<p><a href="classPlayerCc_1_1LaserProxy-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa8fe69c4f48ee66b8e736547f7092e78"></a><!-- doxytag: member="PlayerCc::LaserProxy::LaserProxy" ref="aa8fe69c4f48ee66b8e736547f7092e78" args="(PlayerClient *aPc, uint32_t aIndex=0)" -->
&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#aa8fe69c4f48ee66b8e736547f7092e78">LaserProxy</a> (<a class="el" href="classPlayerCc_1_1PlayerClient.html">PlayerClient</a> *aPc, uint32_t aIndex=0)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">constructor <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a247dcb78b6dd49963459e4e5788a7726"></a><!-- doxytag: member="PlayerCc::LaserProxy::~LaserProxy" ref="a247dcb78b6dd49963459e4e5788a7726" args="()" -->
&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a247dcb78b6dd49963459e4e5788a7726">~LaserProxy</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">destructor <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a76a3e50cf738fd9f8810013035e1406d"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetCount" ref="a76a3e50cf738fd9f8810013035e1406d" args="() const " -->
uint32_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a76a3e50cf738fd9f8810013035e1406d">GetCount</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Number of points in scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a91c15f2a1bcd09411d0580d6ad474ef8"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetMaxRange" ref="a91c15f2a1bcd09411d0580d6ad474ef8" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a91c15f2a1bcd09411d0580d6ad474ef8">GetMaxRange</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Max range for the latest set of data (meters). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a46e4737cfcce97794edef0df7898ed85"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetScanRes" ref="a46e4737cfcce97794edef0df7898ed85" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a46e4737cfcce97794edef0df7898ed85">GetScanRes</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Angular resolution of scan (radians). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a854efa7527069b8f9d8c18284f4ded92"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetRangeRes" ref="a854efa7527069b8f9d8c18284f4ded92" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a854efa7527069b8f9d8c18284f4ded92">GetRangeRes</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Range resolution of scan (mm). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aea581cfaccb72c309ccfdcc2a7e62500"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetScanningFrequency" ref="aea581cfaccb72c309ccfdcc2a7e62500" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#aea581cfaccb72c309ccfdcc2a7e62500">GetScanningFrequency</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Scanning Frequency (Hz). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a363800b436b931ffb6537e5b3c19e146"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetMinAngle" ref="a363800b436b931ffb6537e5b3c19e146" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a363800b436b931ffb6537e5b3c19e146">GetMinAngle</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Scan range for the latest set of data (radians). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a45ea98521d4970d13247cab44394a943"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetMaxAngle" ref="a45ea98521d4970d13247cab44394a943" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a45ea98521d4970d13247cab44394a943">GetMaxAngle</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Scan range for the latest set of data (radians). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a603a54cbb3a853d588d0c154099efd9a"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetConfMinAngle" ref="a603a54cbb3a853d588d0c154099efd9a" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a603a54cbb3a853d588d0c154099efd9a">GetConfMinAngle</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Scan range from the laser config (call RequestConfigure first) (radians). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae51d9cfcd1ad5060fb21fc6e27a1705e"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetConfMaxAngle" ref="ae51d9cfcd1ad5060fb21fc6e27a1705e" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#ae51d9cfcd1ad5060fb21fc6e27a1705e">GetConfMaxAngle</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Scan range from the laser config (call RequestConfigure first) (radians). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a70d6fa3f648608028f336d6bc848c4b8"></a><!-- doxytag: member="PlayerCc::LaserProxy::IntensityOn" ref="a70d6fa3f648608028f336d6bc848c4b8" args="() const " -->
bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a70d6fa3f648608028f336d6bc848c4b8">IntensityOn</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Whether or not reflectance (i.e., intensity) values are being returned. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acc966b0f43d6a11244e72e3a80f0e0ae"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetPoint" ref="acc966b0f43d6a11244e72e3a80f0e0ae" args="(uint32_t aIndex) const " -->
<a class="el" href="structplayer__point__2d.html">player_point_2d_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#acc966b0f43d6a11244e72e3a80f0e0ae">GetPoint</a> (uint32_t aIndex) const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Scan data (Cartesian): x,y (m). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a334c2e97a3ee5c31c31c610ed20ea7b5"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetRange" ref="a334c2e97a3ee5c31c31c610ed20ea7b5" args="(uint32_t aIndex) const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a334c2e97a3ee5c31c31c610ed20ea7b5">GetRange</a> (uint32_t aIndex) const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">get the range <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a190760f77696d7a2ab9af8d3cd42a335"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetBearing" ref="a190760f77696d7a2ab9af8d3cd42a335" args="(uint32_t aIndex) const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a190760f77696d7a2ab9af8d3cd42a335">GetBearing</a> (uint32_t aIndex) const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">get the bearing <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab95378bd8b6241d611a64dcf7a8235bb"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetIntensity" ref="ab95378bd8b6241d611a64dcf7a8235bb" args="(uint32_t aIndex) const " -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#ab95378bd8b6241d611a64dcf7a8235bb">GetIntensity</a> (uint32_t aIndex) const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">get the intensity <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5911a2dabb80a1d251487c69d98e881f"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetID" ref="a5911a2dabb80a1d251487c69d98e881f" args="() const " -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a5911a2dabb80a1d251487c69d98e881f">GetID</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">get the laser ID, call RequestId first <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#abf5173dba8d5350453516217370d4c59">Configure</a> (double aMinAngle, double aMaxAngle, uint32_t aScanRes, uint32_t aRangeRes, bool aIntensity, double aScanningFrequency)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Configure the laser scan pattern.  <a href="#abf5173dba8d5350453516217370d4c59"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a4dead8192297f4a3c80208f41b4c87a7">RequestConfigure</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request the current laser configuration; it is read into the relevant class attributes.  <a href="#a4dead8192297f4a3c80208f41b4c87a7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a92346a29768ef18f78540caa05b4e974"></a><!-- doxytag: member="PlayerCc::LaserProxy::RequestID" ref="a92346a29768ef18f78540caa05b4e974" args="()" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a92346a29768ef18f78540caa05b4e974">RequestID</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request the ID of the laser; read it with <a class="el" href="classPlayerCc_1_1LaserProxy.html#a5911a2dabb80a1d251487c69d98e881f" title="get the laser ID, call RequestId first">GetID()</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a5a95e817f51d0b4adb6fdf051beef309">RequestGeom</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the laser's geometry; it is read into the relevant class attributes.  <a href="#a5a95e817f51d0b4adb6fdf051beef309"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structplayer__pose3d.html">player_pose3d_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a2b6c92f8822452de154e623f852cf3fc">GetPose</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor for the pose of the laser with respect to its parent object (e.g., a robot).  <a href="#a2b6c92f8822452de154e623f852cf3fc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structplayer__pose3d.html">player_pose3d_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a500300047f19a733ab51ec6c81bf3e52">GetRobotPose</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor for the pose of the laser's parent object (e.g., a robot).  <a href="#a500300047f19a733ab51ec6c81bf3e52"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac0846cbb8b6f4093c73cae5cefa400b3"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetSize" ref="ac0846cbb8b6f4093c73cae5cefa400b3" args="()" -->
<a class="el" href="structplayer__bbox3d.html">player_bbox3d_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#ac0846cbb8b6f4093c73cae5cefa400b3">GetSize</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor for the size (fill it in by calling RequestGeom). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a40c4c570683d96d7fbf8bd0ce5274919"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetMinLeft" ref="a40c4c570683d96d7fbf8bd0ce5274919" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a40c4c570683d96d7fbf8bd0ce5274919">GetMinLeft</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Minimum range reading on the left side. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acd3c40606400a9e5c20532850dca9376"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetMinRight" ref="acd3c40606400a9e5c20532850dca9376" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#acd3c40606400a9e5c20532850dca9376">GetMinRight</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Minimum range reading on the right side. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#afcbd55405d4bc37fb8f290955c611992">MinLeft</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a6c00cce984f43d4283501de587256846">MinRight</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1LaserProxy.html#a8c7c82a758e3427c3c923e093a3a1af2">operator[]</a> (uint32_t index) const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Range access operator.  <a href="#a8c7c82a758e3427c3c923e093a3a1af2"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a739e036b247f63cf4e0ef20f448cf36b"></a><!-- doxytag: member="PlayerCc::LaserProxy::Subscribe" ref="a739e036b247f63cf4e0ef20f448cf36b" args="(uint32_t aIndex)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><b>Subscribe</b> (uint32_t aIndex)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8c24c3caf727147c92ac777fec548412"></a><!-- doxytag: member="PlayerCc::LaserProxy::Unsubscribe" ref="a8c24c3caf727147c92ac777fec548412" args="()" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><b>Unsubscribe</b> ()</td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a52838f0dbed10ca434dd6c9e2cd8d14d"></a><!-- doxytag: member="PlayerCc::LaserProxy::mDevice" ref="a52838f0dbed10ca434dd6c9e2cd8d14d" args="" -->
<a class="el" href="structplayerc__laser__t.html">playerc_laser_t</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><b>mDevice</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a510fa5fd80df87e91a851ea513a8a8d7"></a><!-- doxytag: member="PlayerCc::LaserProxy::min_angle" ref="a510fa5fd80df87e91a851ea513a8a8d7" args="" -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><b>min_angle</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9ef6c488d6d9e3faa806c574ea849948"></a><!-- doxytag: member="PlayerCc::LaserProxy::max_angle" ref="a9ef6c488d6d9e3faa806c574ea849948" args="" -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><b>max_angle</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af563576235d678bb101d5aeac9951748"></a><!-- doxytag: member="PlayerCc::LaserProxy::scan_res" ref="af563576235d678bb101d5aeac9951748" args="" -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><b>scan_res</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9a2c4f8d44c32d4950c2ce85755d3673"></a><!-- doxytag: member="PlayerCc::LaserProxy::range_res" ref="a9a2c4f8d44c32d4950c2ce85755d3673" args="" -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><b>range_res</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7e1d38423423fc97178aff4c61063262"></a><!-- doxytag: member="PlayerCc::LaserProxy::scanning_frequency" ref="a7e1d38423423fc97178aff4c61063262" args="" -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><b>scanning_frequency</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4275b5d54c7eef167cd9373b93642b2c"></a><!-- doxytag: member="PlayerCc::LaserProxy::intensity" ref="a4275b5d54c7eef167cd9373b93642b2c" args="" -->
bool&nbsp;</td><td class="memItemRight" valign="bottom"><b>intensity</b></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>The <code><a class="el" href="classPlayerCc_1_1LaserProxy.html" title="The LaserProxy class is used to control a laser device.">LaserProxy</a></code> class is used to control a <a class="el" href="group__interface__laser.html">laser</a> device. </p>
<p>The latest scan data is held in two arrays: <code>ranges</code> and <code>intensity</code>. The laser scan range, resolution and so on can be configured using the <a class="el" href="classPlayerCc_1_1LaserProxy.html#abf5173dba8d5350453516217370d4c59" title="Configure the laser scan pattern.">Configure()</a> method. </p>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="abf5173dba8d5350453516217370d4c59"></a><!-- doxytag: member="PlayerCc::LaserProxy::Configure" ref="abf5173dba8d5350453516217370d4c59" args="(double aMinAngle, double aMaxAngle, uint32_t aScanRes, uint32_t aRangeRes, bool aIntensity, double aScanningFrequency)" -->
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          <td class="memname">void PlayerCc::LaserProxy::Configure </td>
          <td>(</td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aMinAngle</em>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">uint32_t&nbsp;</td>
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          <td class="paramtype">double&nbsp;</td>
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<p>Configure the laser scan pattern. </p>
<p>Angles <code>min_angle</code> and <code>max_angle</code> are measured in radians. <code>scan_res</code> is measured in units of 0.01 degrees; valid values are: 25 (0.25 deg), 50 (0.5 deg) and 100 (1 deg). <code>range_res</code> is measured in mm; valid values are: 1, 10, 100. Set <code>intensity</code> to <code>true</code> to enable intensity measurements, or <code>false</code> to disable. <code>scanning_frequency</code> is measured in Hz </p>

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<a class="anchor" id="a2b6c92f8822452de154e623f852cf3fc"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetPose" ref="a2b6c92f8822452de154e623f852cf3fc" args="()" -->
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          <td class="memname"><a class="el" href="structplayer__pose3d.html">player_pose3d_t</a> PlayerCc::LaserProxy::GetPose </td>
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<p>Accessor for the pose of the laser with respect to its parent object (e.g., a robot). </p>
<p>Fill it in by calling RequestGeom. </p>

<p>References <a class="el" href="structplayer__pose3d.html#aa36562136aabc6805b4411d4b942e661">player_pose3d::px</a>, <a class="el" href="structplayer__pose3d.html#a7fc88aeb333507a6026af12116d933b6">player_pose3d::py</a>, and <a class="el" href="structplayer__pose3d.html#abf168b9b5acd66c83a01783512be56dd">player_pose3d::pyaw</a>.</p>

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<a class="anchor" id="a500300047f19a733ab51ec6c81bf3e52"></a><!-- doxytag: member="PlayerCc::LaserProxy::GetRobotPose" ref="a500300047f19a733ab51ec6c81bf3e52" args="()" -->
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          <td>(</td>
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<p>Accessor for the pose of the laser's parent object (e.g., a robot). </p>
<p>Filled in by some (but not all) laser data messages. </p>

<p>References <a class="el" href="structplayer__pose3d.html#aa36562136aabc6805b4411d4b942e661">player_pose3d::px</a>, <a class="el" href="structplayer__pose3d.html#a7fc88aeb333507a6026af12116d933b6">player_pose3d::py</a>, and <a class="el" href="structplayer__pose3d.html#abf168b9b5acd66c83a01783512be56dd">player_pose3d::pyaw</a>.</p>

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<a class="anchor" id="afcbd55405d4bc37fb8f290955c611992"></a><!-- doxytag: member="PlayerCc::LaserProxy::MinLeft" ref="afcbd55405d4bc37fb8f290955c611992" args="() const " -->
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          <td class="memname">double PlayerCc::LaserProxy::MinLeft </td>
          <td>(</td>
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          <td>&nbsp;)&nbsp;</td>
          <td> const<code> [inline]</code></td>
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<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000001">Deprecated:</a></b></dt><dd>Minimum range reading on the left side </dd></dl>

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<a class="anchor" id="a6c00cce984f43d4283501de587256846"></a><!-- doxytag: member="PlayerCc::LaserProxy::MinRight" ref="a6c00cce984f43d4283501de587256846" args="() const " -->
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          <td class="memname">double PlayerCc::LaserProxy::MinRight </td>
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          <td> const<code> [inline]</code></td>
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<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000002">Deprecated:</a></b></dt><dd>Minimum range reading on the right side </dd></dl>

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<a class="anchor" id="a8c7c82a758e3427c3c923e093a3a1af2"></a><!-- doxytag: member="PlayerCc::LaserProxy::operator[]" ref="a8c7c82a758e3427c3c923e093a3a1af2" args="(uint32_t index) const " -->
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          <td class="memname">double PlayerCc::LaserProxy::operator[] </td>
          <td>(</td>
          <td class="paramtype">uint32_t&nbsp;</td>
          <td class="paramname"> <em>index</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td> const<code> [inline]</code></td>
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<p>Range access operator. </p>
<p>This operator provides an alternate way of access the range data. For example, given an <code><a class="el" href="classPlayerCc_1_1LaserProxy.html" title="The LaserProxy class is used to control a laser device.">LaserProxy</a></code> named <code>lp</code>, the following expressions are equivalent: <code>lp.GetRange(0)</code> and <code>lp</code>[0]. </p>

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<a class="anchor" id="a4dead8192297f4a3c80208f41b4c87a7"></a><!-- doxytag: member="PlayerCc::LaserProxy::RequestConfigure" ref="a4dead8192297f4a3c80208f41b4c87a7" args="()" -->
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          <td class="memname">void PlayerCc::LaserProxy::RequestConfigure </td>
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          <td>&nbsp;)&nbsp;</td>
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<p>Request the current laser configuration; it is read into the relevant class attributes. </p>

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<a class="anchor" id="a5a95e817f51d0b4adb6fdf051beef309"></a><!-- doxytag: member="PlayerCc::LaserProxy::RequestGeom" ref="a5a95e817f51d0b4adb6fdf051beef309" args="()" -->
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          <td class="memname">void PlayerCc::LaserProxy::RequestGeom </td>
          <td>(</td>
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          <td>&nbsp;)&nbsp;</td>
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<p>Get the laser's geometry; it is read into the relevant class attributes. </p>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="playerc_09_09_8h_source.html">playerc++.h</a></li>
</ul>
</div>
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Last updated 12 September 2005 21:38:45
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