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#ifndef QRK_M_URG_CTRL_H
#define QRK_M_URG_CTRL_H
/*!
\file
\brief j^Ή URG
\author Satofumi KAMIMURA
$Id: mUrgCtrl.h 1684 2010-02-10 23:56:38Z satofumi $
*/
#include "UrgCtrl.h"
namespace qrk
{
/*!
\brief j^Ή URG
*/
class mUrgCtrl : public RangeSensor
{
mUrgCtrl(void);
mUrgCtrl(const mUrgCtrl& rhs);
mUrgCtrl& operator = (const mUrgCtrl& rhs);
struct pImpl;
std::auto_ptr<pImpl> pimpl;
public:
/*!
\brief IvVpp[^
*/
enum {
DefaultBaudrate = 115200, //!< ڑ̃ftHg{[[g
Infinity = 0, //!< ̃f[^擾
};
/*!
\brief RXgN^
샂[hw肷
- Record [h (-r w)
- 擾f[^Ot@Cɏo
- Play [h (-p w)
- Ot@C̃f[^擾f[^ƂĈ
gp
\code
// vOs̈ -r, -p w肷邱Ƃœ삪ςB
//
// % ./a.exe -r f[^擾AL^
// % ./a.exe -p L^ς݂̃f[^Đ
//
// AL^ƍĐł͓vOgƁB
#include <mUrgCtrl.h>
using namespace qrk;
using namespace std;
int main(int argc, char *argv[])
{
mUrgCtrl urg(argc, argv);
if (! urg.connect("COM4")) {
...
}
long timestamp = 0;
vector<long> data;
urg.capture(data, ×tamp);
...
} \endcode
\see UrgCtrl
*/
explicit mUrgCtrl(int argc, char *argv[]);
~mUrgCtrl(void);
const char* what(void) const;
bool connect(const char* device, long baudrate = DefaultBaudrate);
void setConnection(Connection* con);
Connection* connection(void);
void disconnect(void);
bool isConnected(void) const;
long minDistance(void) const;
long maxDistance(void) const;
int maxScanLines(void) const;
void setRetryTimes(size_t times);
int scanMsec(void) const;
void setCaptureMode(RangeCaptureMode mode);
RangeCaptureMode captureMode(void);
void setCaptureRange(int begin_index, int end_index);
void setCaptureFrameInterval(size_t interval);
void setCaptureTimes(size_t times);
size_t remainCaptureTimes(void);
void setCaptureSkipLines(size_t skip_lines);
int capture(std::vector<long>& data, long* timestamp = NULL);
int captureWithIntensity(std::vector<long>& data,
std::vector<long>& intensity_data,
long* timestamp = NULL);
void stop(void);
bool setTimestamp(int ticks = 0, int* response_msec = NULL,
int* force_delay_msec = NULL);
bool setLaserOutput(bool on);
double index2rad(const int index) const;
int rad2index(const double radian) const;
void setParameter(const RangeSensorParameter& parameter);
RangeSensorParameter parameter(void) const;
bool loadParameter(void);
bool versionLines(std::vector<std::string>& lines);
void reboot(void);
void reset(void);
};
}
#endif /* !QRK_M_URG_CTRL_H */
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