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vpSickLDMRS.h
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/****************************************************************************
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*
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* $Id: vpSickLDMRS.h 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Sick LD-MRS laser driver.
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*
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* Authors:
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef vpSickLDMRS_h
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#define vpSickLDMRS_h
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#include <visp/vpConfig.h>
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#if ( defined(UNIX) && !defined(WIN32) )
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#include <arpa/inet.h>
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#include <iostream>
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#include <vector>
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#include <visp/vpScanPoint.h>
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#include <visp/vpLaserScan.h>
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#include <visp/vpLaserScanner.h>
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#include <visp/vpColVector.h>
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class
VISP_EXPORT vpSickLDMRS :
public
vpLaserScanner
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{
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public
:
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enum
MagicWord {
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MagicWordC2 = 0xAFFEC0C2
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};
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enum
DataType {
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MeasuredData = 0x2202
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};
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vpSickLDMRS();
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vpSickLDMRS(
const
vpSickLDMRS &sick) :
vpLaserScanner
(sick) {
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socket_fd = sick.socket_fd;
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body =
new
unsigned
char
[104000];
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};
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virtual
~vpSickLDMRS();
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bool
setup(std::string ip,
int
port);
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bool
setup();
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bool
measure(
vpLaserScan
laserscan[4]);
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protected
:
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#ifdef WIN32
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SOCKET socket_fd;
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#else
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int
socket_fd;
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#endif
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private
:
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unsigned
char
*body;
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vpColVector
vAngle;
// constant vertical angle for each layer
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double
time_offset;
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bool
isFirstMeasure;
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};
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#endif
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#endif
src
device
laserscanner
sick
vpSickLDMRS.h
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