hokuyo_aist::ScanData Class Reference

Structure to store data returned from the laser scanner. More...

#include <scan_data.h>

Inherited by ScanDataWrap.

List of all members.

Public Member Functions
	ScanData ()
	ScanData (uint32_t *const ranges_buffer, unsigned int ranges_length, uint32_t *const intensities_buffer=0, unsigned int intensities_length=0)
	ScanData (ScanData const &rhs)
	This copy constructor performs a deep copy of present data.
const uint32_t *	ranges () const
	Return a pointer to array of range readings in millimetres.
const uint32_t *	intensities () const
	Return a pointer to an array of intensity readings.
unsigned int	ranges_length () const
	Get the number of range samples in the data.
unsigned int	intensities_length () const
	Get the number of intensity samples in the data.
bool	get_error_status () const
	Indicates if one or more steps had an error.
std::string	error_code_to_string (uint32_t error_code)
	Return a string representing the error for the given error code.
unsigned int	laser_time_stamp () const
	Get the raw time stamp of the data in milliseconds.
unsigned long long	system_time_stamp () const
	Get the system time stamp of the data in milliseconds.
LaserModel	model () const
	Get the model of the laser that produced this scan.
bool	buffers_provided () const
	Check if the buffers are being provided instead of automatic.
ScanData &	operator= (ScanData const &rhs)
	Assignment operator.
uint32_t	operator[] (unsigned int index)
	Subscript operator.
std::string	as_string ()
	Format the entire object into a string.
void	clean_up ()
	Force the data to clean up.

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Detailed Description

Structure to store data returned from the laser scanner.

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Constructor & Destructor Documentation

ScanData::ScanData

(

)

This constructor creates an empty ScanData with no data currently allocated.

ScanData::ScanData	(	uint32_t *const	ranges_buffer,
		unsigned int	ranges_length,
		uint32_t *const	intensities_buffer = 0,
		unsigned int	intensities_length = 0
	)

This constructor uses a provided data buffer rather than allocating automatically.

If the intensity pointer is 0, no data will be provided of that type.

Parameters:

	ranges_buffer	A pointer to a data area to store range data in. It is the caller's responsibility to ensure that it is big enough.
	ranges_length	The size of the ranges buffer. Used only for copy constructor and similar.
	intensities_buffer	A pointer to a data area to store intensity data in. It is the caller's responsibility to ensure that it is big enough.
	intensities_length	The size of the intensities buffer. Used only for copy constructor and similar.

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Member Function Documentation

bool hokuyo_aist::ScanData::get_error_status

(

)

const [inline]

Indicates if one or more steps had an error.

A step's value will be less than 20 if it had an error. Use error_code_to_string to get a textual representation of the error.

Referenced by operator=(), and ScanData().

unsigned int hokuyo_aist::ScanData::laser_time_stamp

(

)

const [inline]

Get the raw time stamp of the data in milliseconds.

This value is only available using SCIP version 2).

Referenced by operator=(), and ScanData().

ScanData & ScanData::operator=

(

ScanData const &

rhs

)

Assignment operator.

If the rhs has provided buffers, the lhs will not receive the same buffers. Instead, it will copy the data into its own buffers. If the lhs has provided buffers, it is the caller's responsibility to ensure they will be big enough to receive the data from the rhs, except in the case of 0 buffers (no data will be copied for 0 buffers).

References buffers_provided(), get_error_status(), intensities(), intensities_length(), laser_time_stamp(), model(), ranges(), ranges_length(), and system_time_stamp().

uint32_t ScanData::operator[]

(

unsigned int

index

)

Subscript operator.

Provides direct access to an element of the range data.

const uint32_t* hokuyo_aist::ScanData::ranges

(

)

const [inline]

Return a pointer to array of range readings in millimetres.

Values less than 20mm indicate an error. Check the error value for the data to see a probable cause for the error. Most of the time, it will just be an out-of-range reading.

Referenced by operator=(), and ScanData().

unsigned long long hokuyo_aist::ScanData::system_time_stamp

(

)

const [inline]

Get the system time stamp of the data in milliseconds.

This value is only available using SCIP version 2).

Referenced by operator=(), and ScanData().

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The documentation for this class was generated from the following files:

• scan_data.h
• scan_data.cpp