urg_nz::urg_laser Class Reference

URG laser scanner class. More...

#include <urg_nz.h>

List of all members.

Public Member Functions

urg_laser (void)

Constructor for URG laser scanner class.

~urg_laser (void)

Destructor for URG laser scanner class.

void Open (const char *port_name, bool use_serial, int baud)

Open a laser scanner on the specified port.

void Close (void)

Close the laser scanner connection.

bool PortOpen (void)

Check if the port to the laser scanner is open.

int ChangeBaud (int curr_baud, int new_baud)

Change the baud rate of the connection.

void SetTimeOut (int timeout)

Set the time out for reads performed when talking to the laser.

unsigned int GetReadings (urg_nz_laser_readings_t *readings, unsigned int min_i=0, unsigned int max_i=MAX_READINGS)

Retrieve a set of range readings from the scanner. Ranges are returned in millimetres.

int GetIDInfo (void)

Get the laser scanner identification information.

void GetSensorConfig (urg_nz_laser_config_t *cfg)

Get the laser scanner configuration (resolution, scan angles, etc.).

int GetSCIPVersion (void)

Get the protocol version used by the connected laser scanner.

void SetVerbose (bool verbose_mode)

Turns on and off printing of information to the console. Default is off.

Detailed Description

URG laser scanner class.

Provides an interface for interacting with a Hokuyo URG laser scanner.

To use a serial connection, ensure that you do not also have a USB cable connected, as this will force the scanner into USB mode, preventing the serial connection from functioning correctly.

All functions may throw instances of urg_nz_exception.

Member Function Documentation

void urg_laser::Open	(	const char *	port_name,
		bool	use_serial,
		int	baud
	)

Open a laser scanner on the specified port.

Supported baud rates for RS232 connections are 19200, 57600 and 115200. Baud rate is not applicable to USB connections.

Parameters:

	port_name	Fully-qualified path to the port the scanner is connected to.
	use_serial	Use a serial connection. The alternative is termios.
	baud	Baud rate for serial connections.

References ChangeBaud(), Close(), GetSCIPVersion(), PortOpen(), urg_nz::URG_ERR_CONNECT_FAILED, and urg_nz::URG_ERR_OPEN_FAILED.

bool urg_laser::PortOpen ( void )

Check if the port to the laser scanner is open.

Returns:: true if the port is open, false otherwise.

Referenced by GetIDInfo(), GetReadings(), Open(), and ~urg_laser().

int urg_laser::ChangeBaud	(	int	curr_baud,
		int	new_baud
	)

Change the baud rate of the connection.

Supported baud rates are 19200, 57600 and 115200. Not applicable to USB connections.

Note: Not tested with SCIP protocol version 2.

Parameters:

	curr_baud	The current baud rate of the connection.
	new_baud	The new baud rate to change the connection to.

Returns:: 0 on success, non-zero for non-fatal failure. Fatal errors will throw an exception.

References urg_nz::URG_ERR_BADBAUDRATE, and urg_nz::URG_ERR_CHANGEBAUD.

Referenced by Open().

void urg_nz::urg_laser::SetTimeOut ( int timeout ) [inline]

Set the time out for reads performed when talking to the laser.

A large number of polls are performed while talking to the laser scanner to look for data, for example when getting scan data from it. This sets the timeout, in milliseconds, to use for these polls. Set it to a negative value for no timeout.

The default value is -1.

Parameters:

timeout

The time out for reads, in milliseconds.

unsigned int urg_laser::GetReadings	(	urg_nz_laser_readings_t *	readings,
		unsigned int	min_i = `0`,
		unsigned int	max_i = `MAX_READINGS`
	)

Retrieve a set of range readings from the scanner. Ranges are returned in millimetres.

The scan is a series of discrete values. They can be indexed, starting at 0 and going up to MAX_READINGS. A subset of these values only can be returned using min_i and max_i. These are inclusive, e.g. asking for readings from 5 to 10 will return 6 readings. Typically, you will want to at least exclude the readings the scanner can't actually see, as given by GetSensorConfig.

Parameters:

	readings	Pointer to a urg_nz_laser_readings_t structure to store the data in.
	min_i	The minimum scan index to retrieve. Must be at least 0. Default is 0.
	max_i	The maximum scan index to retrieve. Must be no greater than MAX_READINGS. Default is MAX_READINGS.

Returns:: The number of range readings read.

References urg_nz::MAX_READINGS, PortOpen(), urg_nz::urg_nz_laser_readings::Readings, urg_nz::URG_ERR_LASERERROR, urg_nz::URG_ERR_NODESTINATION, urg_nz::URG_ERR_NOPORT, and urg_nz::URG_ERR_PROTOCOL.

int urg_laser::GetIDInfo ( void )

Get the laser scanner identification information.

Returns:: The serial number of the laser scanner.

References PortOpen(), urg_nz::URG_ERR_LASERERROR, urg_nz::URG_ERR_NOPORT, and urg_nz::URG_ERR_PROTOCOL.

void urg_laser::GetSensorConfig ( urg_nz_laser_config_t * cfg )

Get the laser scanner configuration (resolution, scan angles, etc.).

Parameters:

cfg

Pointer to a urg_nz_laser_config_t structure to store the configuration in.

References urg_nz::urg_nz_laser_config::max_angle, urg_nz::urg_nz_laser_config::max_range, urg_nz::MAX_READINGS, urg_nz::urg_nz_laser_config::min_angle, urg_nz::urg_nz_laser_config::resolution, urg_nz::URG_ERR_BADFIRMWARE, urg_nz::URG_ERR_PROTOCOL, and urg_nz::URG_ERR_READ.

int urg_laser::GetSCIPVersion ( void )

Get the protocol version used by the connected laser scanner.

Old firmware revisions support protocol SCIP1.0, and a max range of 4 meters. Since firmware revision 3.0.00, it's called SCIP2.0, and the max range is 5.6 meters.

Returns:: The protocol version in use.

References urg_nz::URG_ERR_PROTOCOL, and urg_nz::URG_ERR_SCIPVERSION.

Referenced by Open().

void urg_nz::urg_laser::SetVerbose ( bool verbose_mode ) [inline]

Turns on and off printing of information to the console. Default is off.

Parameters:

verbose_mode

Set verbose mode on or off.

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

urg_nz.h
urg_nz.cpp