Visual Servoing Platform version 3.5.0
vpSickLDMRS.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Sick LD-MRS laser driver.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38#ifndef vpSickLDMRS_h
39#define vpSickLDMRS_h
40
41#include <visp3/core/vpConfig.h>
42
43#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
44
45#include <arpa/inet.h>
46#include <iostream>
47#include <string.h>
48#include <vector>
49
50#include <visp3/core/vpColVector.h>
51#include <visp3/core/vpException.h>
52#include <visp3/sensor/vpLaserScan.h>
53#include <visp3/sensor/vpLaserScanner.h>
54#include <visp3/sensor/vpScanPoint.h>
55
107class VISP_EXPORT vpSickLDMRS : public vpLaserScanner
108{
109public:
111 MagicWordC2 = 0xAFFEC0C2
113 };
114 enum DataType {
115 MeasuredData = 0x2202
117 };
118 vpSickLDMRS();
121 : vpLaserScanner(sick), socket_fd(-1), body(NULL), vAngle(), time_offset(0), isFirstMeasure(true),
122 maxlen_body(104000)
123 {
124 *this = sick;
125 };
126 virtual ~vpSickLDMRS();
129 {
130 if (this != &sick) {
131 socket_fd = sick.socket_fd;
132 vAngle = sick.vAngle;
133 time_offset = sick.time_offset;
134 isFirstMeasure = sick.isFirstMeasure;
135 maxlen_body = sick.maxlen_body;
136 if (body)
137 delete[] body;
138 body = new unsigned char[104000];
139 memcpy(body, sick.body, maxlen_body);
140 }
141 return (*this);
142 };
143
144 bool setup(const std::string &ip, int port);
145 bool setup();
146 bool measure(vpLaserScan laserscan[4]);
147
148protected:
149#if defined(_WIN32)
150 SOCKET socket_fd;
151#else
153#endif
154 unsigned char *body;
155 vpColVector vAngle; // constant vertical angle for each layer
159};
160
161#endif
162
163#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implements a laser scan data structure that contains especially the list of scanned points that have ...
Definition: vpLaserScan.h:65
Class that defines a generic laser scanner.
Driver for the Sick LD-MRS laser scanner.
Definition: vpSickLDMRS.h:108
bool isFirstMeasure
Definition: vpSickLDMRS.h:157
unsigned char * body
Definition: vpSickLDMRS.h:154
size_t maxlen_body
Definition: vpSickLDMRS.h:158
vpColVector vAngle
Definition: vpSickLDMRS.h:155
double time_offset
Definition: vpSickLDMRS.h:156
vpSickLDMRS & operator=(const vpSickLDMRS &sick)
Definition: vpSickLDMRS.h:128
vpSickLDMRS(const vpSickLDMRS &sick)
Definition: vpSickLDMRS.h:120