LaserRangeFinder.h File Reference

In "rec/robotino/api2/c/LaserRangeFinder.h" you can find functions for reading Robotino's laser rangefinder. More...

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

Go to the source code of this file.

Macros
#define	INVALID_LASERRANGEFINDERID   -1

Typedefs
typedef int	LaserRangeFinderId

Functions
DLLEXPORT LaserRangeFinderId	LaserRangeFinder_construct ()
DLLEXPORT BOOL	LaserRangeFinder_destroy (LaserRangeFinderId id)
DLLEXPORT BOOL	LaserRangeFinder_setComId (LaserRangeFinderId id, ComId comId)
DLLEXPORT BOOL	LaserRangeFinder_grab (LaserRangeFinderId id)
DLLEXPORT BOOL	LaserRangeFinder_numMeasurements (LaserRangeFinderId id, unsigned int *numRangeMeasurements, unsigned int *numIntensityMeasurements)
DLLEXPORT BOOL	LaserRangeFinder_getReadings (LaserRangeFinderId id, unsigned int *seq, unsigned int *stamp, float *angle_min, float *angle_max, float *angle_increment, float *time_increment, float *scan_time, float *range_min, float *range_max, float *ranges, unsigned int *numRanges, float *intensities, unsigned int *numIntensities)

Detailed Description

In "rec/robotino/api2/c/LaserRangeFinder.h" you can find functions for reading Robotino's laser rangefinder.

Use LaserRangeFinder_construct() to create a new rangefinder object. Associate the rangefinder object with a com object using LaserRangeFinder_setComId(). Use LaserRangeFinder_getReadings() to get sensor readings from Robotino's rangefinder.

Macro Definition Documentation

#define INVALID_LASERRANGEFINDERID   -1

Invalid LaserRangeFinderId is -1

Typedef Documentation

typedef int LaserRangeFinderId

LaserRangeFinderId

Function Documentation

DLLEXPORT LaserRangeFinderId LaserRangeFinder_construct

(

)

Construct an LaserRangeFinder object

Returns

Returns the ID of the newly constructed LaserRangeFinder object.

DLLEXPORT BOOL LaserRangeFinder_destroy

(

LaserRangeFinderId

id

)

Destroy the LaserRangeFinder object assigned to id

Parameters

id	The id of the LaserRangeFinder object to be destroyed

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given LaserRangeFinderId is invalid.

DLLEXPORT BOOL LaserRangeFinder_getReadings	(	LaserRangeFinderId	id,
		unsigned int *	seq,
		unsigned int *	stamp,
		float *	angle_min,
		float *	angle_max,
		float *	angle_increment,
		float *	time_increment,
		float *	scan_time,
		float *	range_min,
		float *	range_max,
		float *	ranges,
		unsigned int *	numRanges,
		float *	intensities,
		unsigned int *	numIntensities
	)

Get readings from Robotino's rangefinder. Do not forget to call LaserRangeFinder_grab first. Get the number of measurements by calling LaserRangeFinder_numMeasurements() first. The following conditions must be met:

• sizeof(ranges) >= numRangeMeasurements * sizeof(float)
• sizeof(intensities) >= numIntensityMeasurements * sizeof(float) The easiest way to meet these conditions is to create arrays containing more elements than a rangefinder will provide readings: float range[1000]; float intensities[1000];

  Parameters

  id	The rangefinder id.
  seq	The sequenze number.
  stamp	Time stamp.
  angle_min	Minimum angle in radians.
  angle_max	Maximum angle in radians.
  angle_increment	Angle between two scans in radians.
  time_increment	Time between two scans in s.
  scan_time	Time to scan the field of view in s.
  range_min	Minimum range in meters.
  range_max	Maximum range in meters.
  ranges	The range measurements in meters.
  numRanges	Number of range measurements
  intensities	The intensity measurements.
  numIntensities	Number of intensity measurements

  Returns

  Returns TRUE (1) on success. Returns FALSE (0) if the given LaserRangeFinderId is invalid.

  See also

  LaserRangeFinder_numMeasurements LaserRangeFinder_grab

DLLEXPORT BOOL LaserRangeFinder_grab

(

LaserRangeFinderId

id

)

Grab image.

Parameters

id	The rangefinder id.

Returns

Returns TRUE (1) if a new sensor readings are available since the last call of LaserRangeFinder_grab. Returns FALSE (0) otherwise.

DLLEXPORT BOOL LaserRangeFinder_numMeasurements	(	LaserRangeFinderId	id,
		unsigned int *	numRangeMeasurements,
		unsigned int *	numIntensityMeasurements
	)

Number of range and intensity measurements aquired by grab.

Parameters

id	The rangefinder id.
numRangeMeasurements	Number of range measurements.
numIntensityMeasurements	Number of intensity measurements.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given LaserRangeFinderId is invalid or if no readings have been grabed up to this point in time.

DLLEXPORT BOOL LaserRangeFinder_setComId	(	LaserRangeFinderId	id,
		ComId	comId
	)

Associated an LaserRangeFinder object with a communication interface, i.e. binding the LaserRangeFinder to a specific Robotino

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given LaserRangeFinderId is invalid.