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RobWorkProject
23.9.11-
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RobWorkProject
23.9.11-
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The Scanner2D sensor encapsulate the basic interface of a 2 dimensional range scanning device such as SICK or Hokyuo laser range scanners. More...
#include <Scanner2D.hpp>
Inherits Scanner.
Public Types | |
| typedef rw::core::Ptr< Scanner2D > | Ptr |
| smart pointer type to this class | |
 Public Types inherited from Sensor | |
| typedef rw::core::Ptr< Sensor > | Ptr |
| smart pointer type | |
Public Member Functions | |
| virtual | ~Scanner2D () |
| destructor | |
| virtual const rw::geometry::PointCloud & | getScan () const =0 |
| gets the last acquired scan as a depth image of height 1. | |
| virtual double | getAngularRange () const =0 |
| Returns the angular range of the scanner. More... | |
| virtual size_t | getMeasurementCount () const =0 |
| Returns the number of scan points. | |
| Public Member Functions inherited from Scanner | |
| virtual void | open ()=0 |
| Opens connection to the scanner. | |
| virtual bool | isOpen ()=0 |
| Returns whether the scanner has been opened. More... | |
| virtual void | close ()=0 |
| Closes the connection to the scanner. | |
| virtual void | acquire ()=0 |
| Acquires data. | |
| virtual bool | isScanReady ()=0 |
| tests whether an image has been acquired More... | |
| virtual std::pair< double, double > | getRange ()=0 |
| Returns the min and max range of this Scanner. More... | |
| virtual double | getFrameRate ()=0 |
| returns the framerate that this camera is setup with More... | |
| Public Member Functions inherited from Sensor | |
| virtual | ~Sensor () |
| destructor | |
| const std::string & | getName () const |
| returns the name of this sensor More... | |
| const std::string & | getDescription () const |
| returns a description of this sensor More... | |
| rw::core::Ptr< rw::sensor::SensorModel > | getSensorModel () const |
| The frame to which the sensor is attached. More... | |
| virtual void | setSensorModel (rw::core::Ptr< rw::sensor::SensorModel > smodel) |
| Sets the frame to which the sensor should be attached. More... | |
| rw::core::PropertyMap & | getPropertyMap () |
| gets the propertymap of this sensor | |
| const rw::core::PropertyMap & | getPropertyMap () const |
| gets the propertymap of this sensor | |
Protected Member Functions | |
| Scanner2D (const std::string &name, const std::string &description="") | |
| constructor More... | |
| Protected Member Functions inherited from Scanner | |
| Scanner (const std::string &name, const std::string &desc) | |
| constructor More... | |
| Scanner (const std::string &name) | |
| constructor More... | |
| Protected Member Functions inherited from Sensor | |
| Sensor (const std::string &name) | |
| constructor More... | |
| Sensor (const std::string &name, const std::string &description) | |
| constructor More... | |
| void | setName (const std::string &name) |
| sets the name of this sensor More... | |
| void | setDescription (const std::string &description) |
| sets the description of this sensor More... | |
The Scanner2D sensor encapsulate the basic interface of a 2 dimensional range scanning device such as SICK or Hokyuo laser range scanners.
The interface supports any range scanner that measures distance in an arc around the origin of the sensor.
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inlineprotected |
constructor
| name | [in] name of scanner sensor |
| description | [in] description of scanner sensor |
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pure virtual |
Returns the angular range of the scanner.
1.9.1