00001
00002
00003 #ifndef _REC_ROBOTINO_COM_C_LASERRANGEFINDER_H_
00004 #define _REC_ROBOTINO_COM_C_LASERRANGEFINDER_H_
00005
00006 #include "rec/robotino/com/c/globals.h"
00007 #include "rec/robotino/com/c/Com.h"
00008
00016 typedef int LaserRangeFinderId;
00017
00018 #define INVALID_LASERRANGEFINDERID -1
00019
00024 DLLEXPORT LaserRangeFinderId LaserRangeFinder_construct();
00025
00031 DLLEXPORT BOOL LaserRangeFinder_destroy( LaserRangeFinderId id );
00032
00037 DLLEXPORT BOOL LaserRangeFinder_setComId( LaserRangeFinderId id, ComId comId );
00038
00044 DLLEXPORT BOOL LaserRangeFinder_grab( LaserRangeFinderId id );
00045
00052 DLLEXPORT BOOL LaserRangeFinder_numMeasurements( LaserRangeFinderId id, unsigned int* numRangeMeasurements, unsigned int* numIntensityMeasurements );
00053
00080 DLLEXPORT BOOL LaserRangeFinder_getReadings(
00081 LaserRangeFinderId id,
00082 unsigned int* seq,
00083 unsigned int* stamp,
00084 float* angle_min,
00085 float* angle_max,
00086 float* angle_increment,
00087 float* time_increment,
00088 float* scan_time,
00089 float* range_min,
00090 float* range_max,
00091 float* ranges,
00092 unsigned int* numRanges,
00093 float* intensities,
00094 unsigned int* numIntensities
00095 );
00096
00097 #endif //_REC_ROBOTINO_COM_C_LASERRANGEFINDER_H_