/usr/include/visp/vpSickLDMRS.h is in libvisp-dev 2.8.0-4.
This file is owned by root:root, with mode 0o644.
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*
* $Id: vpSickLDMRS.h 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Sick LD-MRS laser driver.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#ifndef vpSickLDMRS_h
#define vpSickLDMRS_h
#include <visp/vpConfig.h>
#if ( defined(UNIX) && !defined(WIN32) )
#include <arpa/inet.h>
#include <iostream>
#include <vector>
#include <visp/vpScanPoint.h>
#include <visp/vpLaserScan.h>
#include <visp/vpLaserScanner.h>
#include <visp/vpColVector.h>
/*!
\file vpSickLDMRS.h
\brief Driver for the Sick LD-MRS laser scanner.
*/
/*!
\class vpSickLDMRS
\ingroup LaserDriver
\brief Driver for the Sick LD-MRS laser scanner.
\warning For the moment, this driver works only on UNIX platform.
The code below shows how the four laser scan provided by the Sick
LD-MRS could be acquired.
\code
#include "visp/vpSickLDMRS.h"
int main()
{
#ifdef UNIX
std::string ip = "131.254.12.119";
vpSickLDMRS laser;
laser.setIpAddress(ip);
laser.setup();
vpLaserScan laserscan[4];
for ( ; ; ) {
// Get the measured points in the four layers
laser.measure(laserscan);
// Prints all the measured points
for (int layer=0; layer<4; layer++) {
std::vector<vpScanPoint> pointsInLayer = laserscan[layer].getScanPoints();
vpScanPoint p;
for (unsigned int i=0; i < pointsInLayer.size(); i++) {
std::cout << pointsInLayer[i] << std::endl;
}
}
}
#endif
}
\endcode
*/
class VISP_EXPORT vpSickLDMRS : public vpLaserScanner
{
public:
enum MagicWord {
MagicWordC2 = 0xAFFEC0C2 ///< The magic word that allows to identify the messages that are sent by the Sick LD-MRS.
};
enum DataType {
MeasuredData = 0x2202 ///< Flag to indicate that the body of a message contains measured data.
};
vpSickLDMRS();
/*! Copy constructor. */
vpSickLDMRS(const vpSickLDMRS &sick) : vpLaserScanner(sick) {
socket_fd = sick.socket_fd;
body = new unsigned char [104000];
};
virtual ~vpSickLDMRS();
bool setup(std::string ip, int port);
bool setup();
bool measure(vpLaserScan laserscan[4]);
protected:
#ifdef WIN32
SOCKET socket_fd;
#else
int socket_fd;
#endif
private:
unsigned char *body;
vpColVector vAngle; // constant vertical angle for each layer
double time_offset;
bool isFirstMeasure;
};
#endif
#endif
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