/usr/include/x86_64-linux-gnu/visp3/sensor/vpSickLDMRS.h is in libvisp-sensor-dev 3.0.0-4.
This file is owned by root:root, with mode 0o644.
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*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 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://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* 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 <visp3/core/vpConfig.h>
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
#include <arpa/inet.h>
#include <iostream>
#include <vector>
#include <string.h>
#include <visp3/sensor/vpScanPoint.h>
#include <visp3/sensor/vpLaserScan.h>
#include <visp3/sensor/vpLaserScanner.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpException.h>
/*!
\file vpSickLDMRS.h
\brief Driver for the Sick LD-MRS laser scanner.
*/
/*!
\class vpSickLDMRS
\ingroup group_sensor_laserscanner
\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 "visp3/sensor/vpSickLDMRS.h"
int main()
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // 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(-1), body(NULL), vAngle(), time_offset(0),
isFirstMeasure(true), maxlen_body(104000)
{
*this = sick;
};
virtual ~vpSickLDMRS();
/*! Copy constructor. */
vpSickLDMRS &operator=(const vpSickLDMRS &sick)
{
socket_fd = sick.socket_fd;
vAngle = sick.vAngle;
time_offset = sick.time_offset;
isFirstMeasure = sick.isFirstMeasure;
maxlen_body = sick.maxlen_body;
if (body) delete [] body;
body = new unsigned char [104000];
memcpy(body, sick.body, maxlen_body);
return (*this);
};
bool setup(std::string ip, int port);
bool setup();
bool measure(vpLaserScan laserscan[4]);
protected:
#if defined(_WIN32)
SOCKET socket_fd;
#else
int socket_fd;
#endif
unsigned char *body;
vpColVector vAngle; // constant vertical angle for each layer
double time_offset;
bool isFirstMeasure;
size_t maxlen_body;
};
#endif
#endif
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