/usr/include/urg/UrgCtrl.h is in liburg0-dev 0.8.18-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 | #ifndef URG_CTRL_H
#define URG_CTRL_H
/*!
\file
\brief URG sensor control
\author Satofumi KAMIMURA
$Id: UrgCtrl.h 1840 2010-06-06 10:43:46Z satofumi $
*/
#include "RangeSensor.h"
#include "Coordinate.h"
namespace qrk
{
class Connection;
/*!
\brief URG sensor control
\obsolute use UrgCtrl
*/
class UrgCtrl : public Coordinate, public RangeSensor
{
public:
enum {
DefaultBaudrate = 115200, //!< [bps]
DefaultRetryTimes = 8,
Infinity = 0,
Off = 0, //!< Laser is off
On = 1, //!< Laser is on
};
UrgCtrl(void);
virtual ~UrgCtrl(void);
const char* what(void) const;
bool connect(const char* device, long baudrate = DefaultBaudrate);
void setConnection(Connection* con);
Connection* connection(void);
void disconnect(void);
bool isConnected(void) const;
long minDistance(void) const;
long maxDistance(void) const;
int maxScanLines(void) const;
void setRetryTimes(size_t times);
void setCapturesSize(size_t size);
int scanMsec(void) const;
void setCaptureMode(RangeCaptureMode mode);
RangeCaptureMode captureMode(void);
void setCaptureRange(int begin_index, int end_index);
void setCaptureFrameInterval(size_t interval);
void setCaptureTimes(size_t times);
size_t remainCaptureTimes(void);
void setCaptureSkipLines(size_t skip_lines);
int capture(std::vector<long>& data, long* timestamp = NULL);
int captureWithIntensity(std::vector<long>& data,
std::vector<long>& intensity_data,
long* timestamp = NULL);
void stop(void);
bool setTimestamp(int timestamp = 0, int* response_msec = NULL,
int* force_delay_msec = NULL);
long recentTimestamp(void) const;
bool setLaserOutput(bool on);
double index2rad(const int index) const;
int rad2index(const double radian) const;
void setParameter(const RangeSensorParameter& parameter);
RangeSensorParameter parameter(void) const;
bool loadParameter(void);
bool versionLines(std::vector<std::string>& lines);
bool reboot(void);
bool reset(void);
protected:
virtual void captureReceived(void);
private:
UrgCtrl(const UrgCtrl& rhs);
UrgCtrl& operator = (const UrgCtrl& rhs);
struct pImpl;
std::auto_ptr<pImpl> pimpl;
};
}
#endif /* !URG_CTRL_H */
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