Sophie: player-doc-3.0.2-5.fc14 noarch

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

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<!-- Generated by Doxygen 1.7.1 -->
<div class="header">
  <div class="headertitle">
<h1>laser<br/>
<small>
[<a class="el" href="group__interfaces.html">Interface specifications</a>]</small>
</h1>  </div>
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<div class="contents">

<p><b>DEPRECATED</b> Laser range-finder  
<a href="#_details">More...</a></p>
<table class="memberdecls">
<tr><td colspan="2"><p><a class="anchor" id="amgrpd41d8cd98f00b204e9800998ecf8427e"></a> </p>
<br/><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga99b20671325991998de43dcbbf213ea5"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_DATA_SCAN" ref="ga99b20671325991998de43dcbbf213ea5" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga99b20671325991998de43dcbbf213ea5">PLAYER_LASER_DATA_SCAN</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga55ad1543e6017c9303d4841c3cbee75f"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_DATA_SCANPOSE" ref="ga55ad1543e6017c9303d4841c3cbee75f" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga55ad1543e6017c9303d4841c3cbee75f">PLAYER_LASER_DATA_SCANPOSE</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: pose-stamped scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaea8d299ae349dabffffeb836957d04fc"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_DATA_SCANANGLE" ref="gaea8d299ae349dabffffeb836957d04fc" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gaea8d299ae349dabffffeb836957d04fc">PLAYER_LASER_DATA_SCANANGLE</a>&nbsp;&nbsp;&nbsp;3</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: angle-stamped scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga835be097317baa4e1c40d87ad8a2e0a7"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_REQ_GET_GEOM" ref="ga835be097317baa4e1c40d87ad8a2e0a7" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga835be097317baa4e1c40d87ad8a2e0a7">PLAYER_LASER_REQ_GET_GEOM</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: get geometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gad5d421592e51b81f4ecd588690613b16"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_REQ_SET_CONFIG" ref="gad5d421592e51b81f4ecd588690613b16" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gad5d421592e51b81f4ecd588690613b16">PLAYER_LASER_REQ_SET_CONFIG</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set configuration. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga9d14f938c7734849e9badedf92500f38"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_REQ_GET_CONFIG" ref="ga9d14f938c7734849e9badedf92500f38" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga9d14f938c7734849e9badedf92500f38">PLAYER_LASER_REQ_GET_CONFIG</a>&nbsp;&nbsp;&nbsp;3</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: get configuration. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gabf02de95bfaf7554682aef73828de573"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_REQ_POWER" ref="gabf02de95bfaf7554682aef73828de573" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gabf02de95bfaf7554682aef73828de573">PLAYER_LASER_REQ_POWER</a>&nbsp;&nbsp;&nbsp;4</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set power. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga5134becde29db724788059e1e9028abe"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_REQ_GET_ID" ref="ga5134becde29db724788059e1e9028abe" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga5134becde29db724788059e1e9028abe">PLAYER_LASER_REQ_GET_ID</a>&nbsp;&nbsp;&nbsp;5</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: get IDentification information. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaea5aa5ea231eff771dbd2caa27f269d6"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_REQ_SET_FILTER" ref="gaea5aa5ea231eff771dbd2caa27f269d6" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gaea5aa5ea231eff771dbd2caa27f269d6">PLAYER_LASER_REQ_SET_FILTER</a>&nbsp;&nbsp;&nbsp;6</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set filter settings. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gad6134b744f2597c9e5744ea1ddd7fdb8"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_MAX_FILTER_PARAMS" ref="gad6134b744f2597c9e5744ea1ddd7fdb8" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gad6134b744f2597c9e5744ea1ddd7fdb8">PLAYER_LASER_MAX_FILTER_PARAMS</a>&nbsp;&nbsp;&nbsp;8</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Filter setings. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gad37c5b421d9235c5a40e22fb4dbb1fc8"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_FILTER_MEDIAN" ref="gad37c5b421d9235c5a40e22fb4dbb1fc8" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gad37c5b421d9235c5a40e22fb4dbb1fc8">PLAYER_LASER_FILTER_MEDIAN</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga9428230782620926b92082c7970c0b84"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_FILTER_EDGE" ref="ga9428230782620926b92082c7970c0b84" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga9428230782620926b92082c7970c0b84">PLAYER_LASER_FILTER_EDGE</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gacfaa93d8af5e4dab739ee99abaabd92a"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_FILTER_RANGE" ref="gacfaa93d8af5e4dab739ee99abaabd92a" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gacfaa93d8af5e4dab739ee99abaabd92a">PLAYER_LASER_FILTER_RANGE</a>&nbsp;&nbsp;&nbsp;3</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga0b54080dca6518e6d4a6f942c8c587ff"></a><!-- doxytag: member="interface_laser::PLAYER_LASER_FILTER_MEAN" ref="ga0b54080dca6518e6d4a6f942c8c587ff" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga0b54080dca6518e6d4a6f942c8c587ff">PLAYER_LASER_FILTER_MEAN</a>&nbsp;&nbsp;&nbsp;4</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__laser__data.html">player_laser_data</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga2ff858eb3fecb6999fb1033e5a894295">player_laser_data_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: scan (<a class="el" href="group__interface__laser.html#ga99b20671325991998de43dcbbf213ea5">PLAYER_LASER_DATA_SCAN</a>).  <a href="#ga2ff858eb3fecb6999fb1033e5a894295"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__laser__data__scanpose.html">player_laser_data_scanpose</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gad70a1b684535634528d9e55046ea426e">player_laser_data_scanpose_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: pose-stamped scan (<a class="el" href="group__interface__laser.html#ga55ad1543e6017c9303d4841c3cbee75f">PLAYER_LASER_DATA_SCANPOSE</a>).  <a href="#gad70a1b684535634528d9e55046ea426e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__laser__data__scanangle.html">player_laser_data_scanangle</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gafbce45254684c0c5d22475cdfcd0e9bb">player_laser_data_scanangle_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: scan (<a class="el" href="group__interface__laser.html#gaea8d299ae349dabffffeb836957d04fc">PLAYER_LASER_DATA_SCANANGLE</a>).  <a href="#gafbce45254684c0c5d22475cdfcd0e9bb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__laser__geom.html">player_laser_geom</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#gaddc5116ca862cce3269b12fb1b57413a">player_laser_geom_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Get geometry.  <a href="#gaddc5116ca862cce3269b12fb1b57413a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__laser__config.html">player_laser_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga208c996f143f6f4501f69a81f790261b">player_laser_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Get/set scan properties.  <a href="#ga208c996f143f6f4501f69a81f790261b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__laser__power__config.html">player_laser_power_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga1078c795449a8eb04776dfaedeb822a7">player_laser_power_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Turn power on/off.  <a href="#ga1078c795449a8eb04776dfaedeb822a7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__laser__get__id__config.html">player_laser_get_id_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga8581deb343995a476fa192b1bd383d87">player_laser_get_id_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Get IDentification information.  <a href="#ga8581deb343995a476fa192b1bd383d87"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__laser__set__filter__config.html">player_laser_set_filter_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__laser.html#ga942781b559d4ff037377c7609ad1a87e">player_laser_set_filter_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Set filter settings.  <a href="#ga942781b559d4ff037377c7609ad1a87e"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p><b>DEPRECATED</b> Laser range-finder </p>
<p>The laser interface provides access to a single-origin scanning range sensor, such as a SICK laser range-finder (e.g., <a class="el" href="group__driver__sicklms200.html">sicklms200</a>).</p>
<p>Devices supporting the laser interface can be configured to scan at different angles and resolutions. As such, the data returned by the laser interface can take different forms. To make interpretation of the data simple, the laser data packet contains some extra fields before the actual range data. These fields tell the client the starting and ending angles of the scan, the angular resolution of the scan, and the number of range readings included. Scans proceed counterclockwise about the laser (0 degrees is forward). The laser can return a maximum of PLAYER_LASER_MAX_SAMPLES readings; this limits the valid combinations of scan width and angular resolution.</p>
<p>This interface is <b>deprecated</b>. Use the <a class="el" href="group__interface__ranger.html">ranger</a> instead. </p>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="ga208c996f143f6f4501f69a81f790261b"></a><!-- doxytag: member="player_interfaces.h::player_laser_config_t" ref="ga208c996f143f6f4501f69a81f790261b" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__laser__config.html">player_laser_config</a>  <a class="el" href="structplayer__laser__config.html">player_laser_config_t</a></td>
        </tr>
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<div class="memdoc">

<p>Request/reply: Get/set scan properties. </p>
<p>The scan configuration (resolution, aperture, etc) can be queried by sending a null <a class="el" href="group__interface__laser.html#ga9d14f938c7734849e9badedf92500f38">PLAYER_LASER_REQ_GET_CONFIG</a> request and modified by sending a <a class="el" href="group__interface__laser.html#gad5d421592e51b81f4ecd588690613b16">PLAYER_LASER_REQ_SET_CONFIG</a> request. In either case, the current configuration (after attempting any requested modification) will be returned in the response. Read the documentation for your driver to determine what configuration values are permissible. </p>

</div>
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<a class="anchor" id="gafbce45254684c0c5d22475cdfcd0e9bb"></a><!-- doxytag: member="player_interfaces.h::player_laser_data_scanangle_t" ref="gafbce45254684c0c5d22475cdfcd0e9bb" args="" -->
<div class="memitem">
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          <td class="memname">typedef struct <a class="el" href="structplayer__laser__data__scanangle.html">player_laser_data_scanangle</a>  <a class="el" href="structplayer__laser__data__scanangle.html">player_laser_data_scanangle_t</a></td>
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      </table>
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<div class="memdoc">

<p>Data: scan (<a class="el" href="group__interface__laser.html#gaea8d299ae349dabffffeb836957d04fc">PLAYER_LASER_DATA_SCANANGLE</a>). </p>
<p>The basic laser angle stamped data packet. </p>

</div>
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<a class="anchor" id="gad70a1b684535634528d9e55046ea426e"></a><!-- doxytag: member="player_interfaces.h::player_laser_data_scanpose_t" ref="gad70a1b684535634528d9e55046ea426e" args="" -->
<div class="memitem">
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      <table class="memname">
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          <td class="memname">typedef struct <a class="el" href="structplayer__laser__data__scanpose.html">player_laser_data_scanpose</a>  <a class="el" href="structplayer__laser__data__scanpose.html">player_laser_data_scanpose_t</a></td>
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      </table>
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<div class="memdoc">

<p>Data: pose-stamped scan (<a class="el" href="group__interface__laser.html#ga55ad1543e6017c9303d4841c3cbee75f">PLAYER_LASER_DATA_SCANPOSE</a>). </p>
<p>A laser scan with a pose that indicates the (possibly esimated) pose of the laser when the scan was taken. </p>

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<a class="anchor" id="ga2ff858eb3fecb6999fb1033e5a894295"></a><!-- doxytag: member="player_interfaces.h::player_laser_data_t" ref="ga2ff858eb3fecb6999fb1033e5a894295" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__laser__data.html">player_laser_data</a>  <a class="el" href="structplayer__laser__data.html">player_laser_data_t</a></td>
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<p>Data: scan (<a class="el" href="group__interface__laser.html#ga99b20671325991998de43dcbbf213ea5">PLAYER_LASER_DATA_SCAN</a>). </p>
<p>The basic laser data packet. </p>

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<a class="anchor" id="gaddc5116ca862cce3269b12fb1b57413a"></a><!-- doxytag: member="player_interfaces.h::player_laser_geom_t" ref="gaddc5116ca862cce3269b12fb1b57413a" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__laser__geom.html">player_laser_geom</a>  <a class="el" href="structplayer__laser__geom.html">player_laser_geom_t</a></td>
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<p>Request/reply: Get geometry. </p>
<p>The laser geometry (position and size) can be queried by sending a null <a class="el" href="group__interface__laser.html#ga835be097317baa4e1c40d87ad8a2e0a7">PLAYER_LASER_REQ_GET_GEOM</a> request. </p>

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<a class="anchor" id="ga8581deb343995a476fa192b1bd383d87"></a><!-- doxytag: member="player_interfaces.h::player_laser_get_id_config_t" ref="ga8581deb343995a476fa192b1bd383d87" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__laser__get__id__config.html">player_laser_get_id_config</a>  <a class="el" href="structplayer__laser__get__id__config.html">player_laser_get_id_config_t</a></td>
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<p>Request/reply: Get IDentification information. </p>
<p>Send a <a class="el" href="group__interface__laser.html#ga5134becde29db724788059e1e9028abe">PLAYER_LASER_REQ_GET_ID</a> request to receive the laser's serial number or any other relevant identification information (assuming your hardware supports it). </p>

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<a class="anchor" id="ga1078c795449a8eb04776dfaedeb822a7"></a><!-- doxytag: member="player_interfaces.h::player_laser_power_config_t" ref="ga1078c795449a8eb04776dfaedeb822a7" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__laser__power__config.html">player_laser_power_config</a>  <a class="el" href="structplayer__laser__power__config.html">player_laser_power_config_t</a></td>
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<p>Request/reply: Turn power on/off. </p>
<p>Send a <a class="el" href="group__interface__laser.html#gabf02de95bfaf7554682aef73828de573">PLAYER_LASER_REQ_POWER</a> request to turn laser power on or off (assuming your hardware supports it). </p>

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<a class="anchor" id="ga942781b559d4ff037377c7609ad1a87e"></a><!-- doxytag: member="player_interfaces.h::player_laser_set_filter_config_t" ref="ga942781b559d4ff037377c7609ad1a87e" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__laser__set__filter__config.html">player_laser_set_filter_config</a>  <a class="el" href="structplayer__laser__set__filter__config.html">player_laser_set_filter_config_t</a></td>
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<p>Request/reply: Set filter settings. </p>
<p>Send a <a class="el" href="group__interface__laser.html#gaea5aa5ea231eff771dbd2caa27f269d6">PLAYER_LASER_REQ_SET_FILTER</a> request to set the laser's internal filter parameters (assuming your hardware supports it). Currently the finally settings can be applied to the SICK LMS400: a) median filter - PLAYER_LASER_FILTER_MEDIAN, no parameters b) edge filter - PLAYER_LASER_FILTER_EDGE, no parameters c) range filter - PLAYER_LASER_FILTER_RANGE p1 = BottomLimit (700-3000 in mm), p2 = TopLimit (700-3000 in mm) d) mean filter - PLAYER_LASER_FILTER_MEAN p1 = number of means (2-200)</p>
<p>Note: You can combine the filters as required. If several filters are active, then the filters act one after the other on the result of the previous filter. The processing in this case follows the following sequence: edge filter, median filter, range filter, mean filter. </p>

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Last updated 12 September 2005 21:38:45
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