#include <Lidar.h>
Public 型 | |
| enum | measurement_type_t { Distance, Distance_intensity, Multiecho, Multiecho_intensity } |
| enum | connection_type_t { Serial, Ethernet } |
Public メソッド | |
| virtual const char * | what (void) const =0 |
| virtual bool | open (const char *device_name, long baudrate, connection_type_t type)=0 |
| virtual void | close (void)=0 |
| virtual bool | is_open (void) const =0 |
| virtual void | set_timeout_msec (int msec)=0 |
| virtual bool | laser_on (void)=0 |
| virtual bool | laser_off (void)=0 |
| virtual void | reboot (void)=0 |
| virtual void | sleep (void)=0 |
| virtual void | wakeup (void)=0 |
| virtual bool | is_stable (void)=0 |
| virtual bool | start_measurement (measurement_type_t type, int scan_times, int skip_scan)=0 |
| データ取得の開始 | |
| virtual bool | get_distance (std::vector< long > &data, long *time_stamp)=0 |
| 受信データの受け取り | |
| virtual bool | get_distance_intensity (std::vector< long > &data, std::vector< unsigned short > &intensity, long *time_stamp)=0 |
| virtual bool | get_multiecho (std::vector< long > &data_multi, long *time_stamp)=0 |
| virtual bool | get_multiecho_intensity (std::vector< long > &data_multiecho, std::vector< unsigned short > &intensity_multiecho, long *time_stamp)=0 |
| virtual bool | set_scanning_parameter (int first_step, int last_step, int skip_step)=0 |
| virtual void | stop_measurement (void)=0 |
| データ取得の中断 | |
| virtual bool | set_sensor_time_stamp (long time_stamp)=0 |
| タイムスタンプの同期 | |
| virtual double | index2rad (int index) const =0 |
| 角度変換 | |
| virtual double | index2deg (int index) const =0 |
| virtual int | rad2index (double radian) const =0 |
| virtual int | deg2index (double degree) const =0 |
| virtual int | rad2step (double radian) const =0 |
| virtual int | deg2step (double degree) const =0 |
| virtual double | step2rad (int step) const =0 |
| virtual double | step2deg (int step) const =0 |
| virtual int | step2index (int step) const =0 |
| virtual int | min_step (void) const =0 |
| virtual int | max_step (void) const =0 |
| virtual long | min_distance (void) const =0 |
| virtual long | max_distance (void) const =0 |
| virtual long | scan_usec (void) const =0 |
| virtual int | max_data_size (void) const =0 |
| virtual int | max_echo_size (void) const =0 |
| virtual const char * | product_type (void) const =0 |
| virtual const char * | firmware_version (void) const =0 |
| virtual const char * | serial_id (void) const =0 |
| virtual const char * | status (void) const =0 |
| virtual const char * | state (void) const =0 |
| virtual int | raw_write (const char *data, size_t data_size)=0 |
| virtual int | raw_read (char *data, size_t max_data_size, int timeout)=0 |
| virtual int | raw_readline (char *data, size_t max_data_size, int timeout)=0 |
Lidar インターフェース
1.8.0
