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Robotics Library
0.6.2
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27 #ifndef _RL_HAL_SCHMERSALLSS300_H_
28 #define _RL_HAL_SCHMERSALLSS300_H_
75 const ::std::string& device =
"/dev/ttyS0",
78 const ::std::string&
password =
"PASS_LSS"
122 uint16_t
crc(
const uint8_t* buf, const ::std::size_t& len)
const;
124 ::std::size_t
recv(uint8_t* buf, const ::std::size_t& len,
const uint8_t& command);
126 void send(uint8_t* buf, const ::std::size_t& len);
149 #endif // _RL_HAL_SCHMERSALLSS300_H_
void reset()
Definition: SchmersalLss300.cpp:375
::std::string getType()
Definition: SchmersalLss300.cpp:205
void start()
Definition: SchmersalLss300.cpp:533
uint8_t data[1013]
Definition: SchmersalLss300.h:134
BaudRate baudRate
Definition: SchmersalLss300.h:130
::rl::math::Real getStopAngle() const
Definition: SchmersalLss300.cpp:197
void setMonitoring(const Monitoring &monitoring)
Definition: SchmersalLss300.cpp:483
::rl::math::Real getStartAngle() const
Definition: SchmersalLss300.cpp:189
BaudRate
Definition: SchmersalLss300.h:46
void setBaudRate(const BaudRate &baudRate)
Definition: SchmersalLss300.cpp:420
bool waitAck()
Definition: SchmersalLss300.cpp:575
@ BAUDRATE_38400BPS
38,400 bps.
Definition: SchmersalLss300.h:52
@ BAUDRATE_57600BPS
57,600 bps.
Definition: SchmersalLss300.h:54
@ BAUDRATE_9600BPS
9,600 bps.
Definition: SchmersalLss300.h:48
@ BAUDRATE_19200BPS
19,200 bps.
Definition: SchmersalLss300.h:50
virtual ~SchmersalLss300()
Definition: SchmersalLss300.cpp:70
BaudRate getBaudRate() const
Definition: SchmersalLss300.cpp:119
Monitoring
Definition: SchmersalLss300.h:66
Serial * serial
Definition: SchmersalLss300.h:142
Monitoring monitoring
Definition: SchmersalLss300.h:138
void getDistances(::rl::math::Vector &distances) const
Definition: SchmersalLss300.cpp:125
::rl::math::Real getResolution() const
Definition: SchmersalLss300.cpp:181
void close()
Definition: SchmersalLss300.cpp:76
uint8_t configuration
Definition: SchmersalLss300.h:132
uint16_t crc(const uint8_t *buf, const ::std::size_t &len) const
Definition: SchmersalLss300.cpp:96
@ MONITORING_SINGLE
Definition: SchmersalLss300.h:68
void open()
Definition: SchmersalLss300.cpp:237
Monitoring getMonitoring() const
Definition: SchmersalLss300.cpp:173
@ MONITORING_CONTINUOUS
Definition: SchmersalLss300.h:67
::std::string password
Definition: SchmersalLss300.h:140
::std::size_t getDistancesCount() const
Definition: SchmersalLss300.cpp:151
void send(uint8_t *buf, const ::std::size_t &len)
Definition: SchmersalLss300.cpp:393
void stop()
Definition: SchmersalLss300.cpp:564
SchmersalLss300(const ::std::string &device="/dev/ttyS0", const BaudRate &baudRate=BAUDRATE_9600BPS, const Monitoring &monitoring=MONITORING_SINGLE, const ::std::string &password="PASS_LSS")
Definition: SchmersalLss300.cpp:42
void step()
Definition: SchmersalLss300.cpp:544
BaudRate desired
Definition: SchmersalLss300.h:136
::rl::math::Real getDistancesMinimum(const ::std::size_t &i) const
Definition: SchmersalLss300.cpp:165
::rl::util::Timer timer
Definition: SchmersalLss300.h:144
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:41
::rl::math::Real getDistancesMaximum(const ::std::size_t &i) const
Definition: SchmersalLss300.cpp:157
::std::size_t recv(uint8_t *buf, const ::std::size_t &len, const uint8_t &command)
Definition: SchmersalLss300.cpp:309
double Real
Definition: Real.h:34
Definition: SchmersalLss300.h:43