Package org.robwork.sdurw_sensor
Class Scanner2DPtr
- java.lang.Object
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- org.robwork.sdurw_sensor.Scanner2DPtr
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public class Scanner2DPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description Scanner2DPtr()
Default constructor yielding a NULL-pointer.Scanner2DPtr(long cPtr, boolean cMemoryOwn)
Scanner2DPtr(Scanner2D ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Scanner2D
__ref__()
Dereferencing operator.void
acquire()
Acquires datavoid
close()
Closes the connection to the scannerScanner2DCPtr
cptr()
void
delete()
Scanner2D
deref()
The pointer stored in the object.boolean
equals(Scanner2D p)
double
getAngularRange()
Returns the angular range of the scanner.
static long
getCPtr(Scanner2DPtr obj)
Scanner2D
getDeref()
Member access operator.java.lang.String
getDescription()
returns a description of this sensordouble
getFrameRate()
returns the framerate that this camera is setup withlong
getMeasurementCount()
Returns the number of scan pointsjava.lang.String
getName()
returns the name of this sensorPropertyMap
getPropertyMap()
gets the propertymap of this sensorpair_d_d
getRange()
Returns the min and max range of this ScannerPointCloud
getScan()
gets the last acquired scan as a depth image
of height 1.SensorModelPtr
getSensorModel()
The frame to which the sensor is attached.
The frame can be NULL.boolean
isNull()
checks if the pointer is nullboolean
isOpen()
Returns whether the scanner has been opened
boolean
isScanReady()
tests whether an image has been acquiredboolean
isShared()
check if this Ptr has shared ownership or none
ownershipvoid
open()
Opens connection to the scannervoid
setSensorModel(SensorModelPtr smodel)
Sets the frame to which the sensor should be attached
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Constructor Detail
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Scanner2DPtr
public Scanner2DPtr(long cPtr, boolean cMemoryOwn)
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Scanner2DPtr
public Scanner2DPtr()
Default constructor yielding a NULL-pointer.
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Scanner2DPtr
public Scanner2DPtr(Scanner2D ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(Scanner2DPtr obj)
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delete
public void delete()
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deref
public Scanner2D deref()
The pointer stored in the object.
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__ref__
public Scanner2D __ref__()
Dereferencing operator.
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getDeref
public Scanner2D getDeref()
Member access operator.
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equals
public boolean equals(Scanner2D p)
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isShared
public boolean isShared()
check if this Ptr has shared ownership or none
ownership- Returns:
- true if Ptr has shared ownership, false if it has no ownership.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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cptr
public Scanner2DCPtr cptr()
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getScan
public PointCloud getScan()
gets the last acquired scan as a depth image
of height 1.
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getAngularRange
public double getAngularRange()
Returns the angular range of the scanner.
- Returns:
- Angular range in radians
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getMeasurementCount
public long getMeasurementCount()
Returns the number of scan points
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open
public void open()
Opens connection to the scanner
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isOpen
public boolean isOpen()
Returns whether the scanner has been opened
- Returns:
- true if scanner is opened
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close
public void close()
Closes the connection to the scanner
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acquire
public void acquire()
Acquires data
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isScanReady
public boolean isScanReady()
tests whether an image has been acquired- Returns:
- true if an image has been acquired, false otherwise.
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getRange
public pair_d_d getRange()
Returns the min and max range of this Scanner- Returns:
- min and max range
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getFrameRate
public double getFrameRate()
returns the framerate that this camera is setup with- Returns:
- the framerate in frames per second
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getName
public java.lang.String getName()
returns the name of this sensor- Returns:
- name of sensor
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getDescription
public java.lang.String getDescription()
returns a description of this sensor- Returns:
- reference to this sensors description
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getSensorModel
public SensorModelPtr getSensorModel()
The frame to which the sensor is attached.
The frame can be NULL.
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setSensorModel
public void setSensorModel(SensorModelPtr smodel)
Sets the frame to which the sensor should be attached
- Parameters:
smodel
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getPropertyMap
public PropertyMap getPropertyMap()
gets the propertymap of this sensor
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