Scanner2D (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_sensor.Sensor
- - org.robwork.sdurw_sensor.Scanner
  - - org.robwork.sdurw_sensor.Scanner2D

```
public class Scanner2D
extends Scanner
```
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.

Constructor Summary

Constructors
Constructor Description

Scanner2D(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`double`	`getAngularRange()`	Returns the angular range of the scanner.
`static long`	`getCPtr(Scanner2D obj)`
`long`	`getMeasurementCount()`	Returns the number of scan points
`PointCloud`	`getScan()`	gets the last acquired scan as a depth image of height 1.

Methods inherited from class org.robwork.sdurw_sensor.Scanner
acquire, close, getCPtr, getFrameRate, getRange, isOpen, isScanReady, open

Methods inherited from class org.robwork.sdurw_sensor.Sensor
getCPtr, getDescription, getName, getPropertyMap, getSensorModel, setSensorModel

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Scanner2D
```
public Scanner2D(long cPtr,
                 boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(Scanner2D obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class Scanner
  - getScan
```
public PointCloud getScan()
```
    gets the last acquired scan as a depth image
    of height 1.
  - getAngularRange
```
public double getAngularRange()
```
    Returns the angular range of the scanner.
    
    Returns:
    
    Angular range in radians
  - getMeasurementCount
```
public long getMeasurementCount()
```
    Returns the number of scan points