Go to the documentation of this file.
81 std::string _ip = std::string(
"192.168.0.1"),
82 unsigned int _port = 2111);
97 bool& outThereIsObservation,
99 bool& hardwareError)
override;
155 const std::string& iniSection)
override;
unsigned int m_scanFrequency
A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing...
void sendCommand(const char *cmd)
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
bool decodeLogIn(char *msg)
bool decodeScan(char *buf, mrpt::obs::CObservation2DRangeScan &outObservation)
Contains classes for various device interfaces.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
bool decodeScanCfg(std::istringstream &stream)
This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...
bool turnOff() override
This method could be called manually to stop communication with the device.
This class allows loading and storing values and vectors of different types from a configuration text...
mrpt::comms::CClientTCPSocket m_client
void initialize() override
Initialize the sensor according to the parameters previously read in the configuration file.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
bool decodeScanDataCfg(std::istringstream &stream)
TCLAP::CmdLine cmd("system_control_rate_timer_example")
~CLMS100Eth() override
Destructor.
void doProcess() override
This method should be called periodically.
This "software driver" implements the communication protocol for interfacing a SICK LMS100 laser scan...
void doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) override
This function acquire a laser scan from the device.
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
Load sensor pose on the robot, or keep the default sensor pose.
CLMS100Eth(std::string _ip=std::string("192.168.0.1"), unsigned int _port=2111)
Constructor.
mrpt::poses::CPose3D m_sensorPose
bool turnOn() override
This method must be called before trying to get a laser scan.
void generateCmd(const char *cmd)
Add the start and end character.
void setSensorPose(const mrpt::poses::CPose3D &_pose)
A method to set the sensor pose on the robot.
void roughPrint(char *msg)
Page generated by Doxygen 1.8.18 for MRPT 2.0.4 at Thu Sep 24 07:14:18 UTC 2020 | |