/usr/include/urg/mUrgDevice.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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 | #ifndef QRK_M_URG_DEVICE_H
#define QRK_M_URG_DEVICE_H
/*!
\file
\brief ���j�^�Ή��� URG ����
\author Satofumi KAMIMURA
$Id: mUrgDevice.h 1841 2010-06-06 12:01:11Z satofumi $
*/
#include "UrgDevice.h"
namespace qrk
{
/*!
\brief ���j�^�Ή��� URG ����
*/
class mUrgDevice : public RangeSensor
{
mUrgDevice(void);
mUrgDevice(const mUrgDevice& rhs);
mUrgDevice& operator = (const mUrgDevice& rhs);
struct pImpl;
std::auto_ptr<pImpl> pimpl;
public:
/*!
\brief �I�v�V�����p�p�����[�^
*/
enum {
DefaultBaudrate = 115200, //!< �ڑ����̃f�t�H���g�{�[���[�g
Infinity = 0, //!< ������̃f�[�^�擾
};
/*!
\brief �R���X�g���N�^
���샂�[�h���w�肷��
- Record ���[�h (-r �w��)
- �擾�f�[�^�����O�t�@�C���ɏ����o��
- Play ���[�h (-p �w��)
- ���O�t�@�C���̃f�[�^���擾�f�[�^�Ƃ��Ĉ���
�g�p��
\code
// �v���O�������s���̈����� -r, -p ���w�肷�邱�Ƃœ��삪�ς��B
//
// % ./a.exe -r �f�[�^���擾���A�L�^����
// % ./a.exe -p �L�^�ς݂̃f�[�^���Đ�����
//
// �������A�L�^���ƍĐ����ł͓����v���O�������g�����ƁB
#include <mUrgDevice.h>
using namespace qrk;
using namespace std;
int main(int argc, char *argv[])
{
mUrgDevice urg(argc, argv);
if (! urg.connect("COM4")) {
...
}
long timestamp = 0;
vector<long> data;
urg.capture(data, ×tamp);
...
} \endcode
\see UrgDevice
*/
explicit mUrgDevice(int argc, char *argv[]);
~mUrgDevice(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);
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 ticks = 0, int* response_msec = NULL,
int* force_delay_msec = NULL);
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);
void reboot(void);
};
}
#endif /* !QRK_M_URG_DEVICE_H */
|