PlayerCc::RangerProxy Class Reference
[Proxies]
#include <playerc++.h>
Inheritance diagram for PlayerCc::RangerProxy:
Collaboration diagram for PlayerCc::RangerProxy:
Detailed Description
TheRangerProxy class is used to control a ranger device.
Public Member Functions | |
| RangerProxy (PlayerClient *aPc, uint32_t aIndex=0) | |
| constructor | |
| ~RangerProxy () | |
| destructor | |
| uint32_t | GetSensorCount () const |
| Return the individual range sensor count. | |
| player_pose3d_t | GetDevicePose () const |
| Return the device pose. | |
| player_bbox3d_t | GetDeviceSize () const |
| Return the device size. | |
| player_pose3d_t | GetSensorPose (uint32_t aIndex) const |
| Return the pose of an individual sensor. | |
| player_bbox3d_t | GetSensorSize (uint32_t aIndex) const |
| Return the size of an individual sensor. | |
| uint32_t | GetRangeCount () const |
| Return the number of range readings. | |
| double | GetRange (uint32_t aIndex) const |
| Get a range reading. | |
| double | operator[] (uint32_t aIndex) const |
| Operator to get a range reading. | |
| uint32_t | GetIntensityCount () const |
| Return the number of intensity readings. | |
| double | GetIntensity (uint32_t aIndex) const |
| Get an intensity reading. | |
| void | SetPower (bool aEnable) |
| Turn the device power on or off. | |
| void | SetIntensityData (bool aEnable) |
| Turn intensity data on or off. | |
| void | RequestGeom () |
| Request the ranger geometry. | |
| void | Configure (double aMinAngle, double aMaxAngle, double aResolution, double aMaxRange, double aRangeRes, double aFrequency) |
| Configure the ranger scan pattern. | |
| void | RequestConfigure () |
| Get the current ranger configuration; it is read into the relevant class attributes. | |
| double | GetMinAngle () const |
| Start angle of a scan (configured value). | |
| double | GetMaxAngle () const |
| Stop angle of a scan (configured value). | |
| double | GetResolution () const |
| Angular resolution of a scan (configured value). | |
| double | GetMaxRange () const |
| Maximum detectable range of a scan (configured value). | |
| double | GetRangeRes () const |
| Linear resolution (configured value). | |
| double | GetFrequency () const |
| Scanning frequency (configured value). | |
Private Member Functions | |
| void | Subscribe (uint32_t aIndex) |
| void | Unsubscribe () |
Private Attributes | |
| playerc_ranger_t * | mDevice |
Member Function Documentation
| void PlayerCc::RangerProxy::SetPower | ( | bool | aEnable | ) |
Turn the device power on or off.
Set state to true to enable, false to disable.
| void PlayerCc::RangerProxy::SetIntensityData | ( | bool | aEnable | ) |
Turn intensity data on or off.
Set state to true to enable, false to disable.
| void PlayerCc::RangerProxy::Configure | ( | double | aMinAngle, | |
| double | aMaxAngle, | |||
| double | aResolution, | |||
| double | aMaxRange, | |||
| double | aRangeRes, | |||
| double | aFrequency | |||
| ) |
Configure the ranger scan pattern.
Angles aMinAngle and aMaxAngle are measured in radians. aResolution is measured in radians. aMaxRange and aRangeRes is measured in metres. aFrequency is measured in Hz.
| void PlayerCc::RangerProxy::RequestConfigure | ( | ) |
Get the current ranger configuration; it is read into the relevant class attributes.
The documentation for this class was generated from the following file: