Access to Robotino's (optional) laser rangefinder. More...

#include <LaserRangeFinder.h>

Inheritance diagram for rec::robotino::api2::LaserRangeFinder:

Public Member Functions
	LaserRangeFinder (const ComId &id)

void	setLaserRangeFinderNumber (int number)

int	laserRangeFinderNumber () const

void	setComId (const ComId &id)

LaserRangeFinderReadings	readings () const

virtual void	scanEvent (const LaserRangeFinderReadings &scan)

Public Member Functions inherited from rec::robotino::api2::ComObject
	ComObject ()

virtual	~ComObject ()

ComId	comId () const

Static Public Member Functions
static unsigned int	numLaserRangeFinders ()

Friends
class	LaserRangeFinderImpl

Additional Inherited Members
Protected Attributes inherited from rec::robotino::api2::ComObject
ComId	_comID

Detailed Description

Access to Robotino's (optional) laser rangefinder.

Member Function Documentation

int rec::robotino::api2::LaserRangeFinder::laserRangeFinderNumber ( ) const

Get the current camera number.

Returns: Returns the current rangefinder number or -1 if no rangefinder is selected.

Exceptions

nothing

See also: setLaserRangeFinderNumber

static unsigned int rec::robotino::api2::LaserRangeFinder::numLaserRangeFinders ( )

static

Returns: Returns the number of supported rangefinders.

LaserRangeFinderReadings rec::robotino::api2::LaserRangeFinder::readings ( ) const

Get the current readings.

Returns: The latest readings.

Exceptions

nothing

Remarks: This function is thread save

virtual void rec::robotino::api2::LaserRangeFinder::scanEvent ( const LaserRangeFinderReadings & scan )

virtual

Called when new scan data is available.

Parameters

scan	The sensor readings.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: Com::processEvents

void rec::robotino::api2::LaserRangeFinder::setComId ( const ComId & id )

Sets the associated communication object.

Parameters

id	The id of the associated communication object.

Exceptions

RobotinoException if given id is invalid.

Remarks: This function is thread save

void rec::robotino::api2::LaserRangeFinder::setLaserRangeFinderNumber ( int number )

Sets the number of this rangefinder device.

Set the number of this rangefinder to number. The default rangefinder number is 0. Setting the rangefinder number only makes sense when your Robotino is equipped with more than one rangefinder.

Parameters

number The rangefinder number. Range [0; numLaserRangeFinders()-1]. When setting number < 0 no rangefinder is selected.

Exceptions

RobotinoException if the given input number is out of range. RobotinoException if given com object is invalid.

See also: numCameras

The documentation for this class was generated from the following file:

C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/LaserRangeFinder.h

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation