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Robotics Library
0.6.2
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27 #ifndef _RL_HAL_SICKLMS200_H_
28 #define _RL_HAL_SICKLMS200_H_
52 #if defined(WIN32) || defined(__QNX__)
54 #else // defined(WIN32) || defined(__QNX__)
58 #endif // defined(WIN32) || defined(__QNX__)
95 const ::std::string& device =
"/dev/ttyS0",
100 const ::std::string&
password =
"SICK_LMS"
156 uint16_t
crc(
const uint8_t* buf, const ::std::size_t& len)
const;
158 ::std::size_t
recv(uint8_t* buf, const ::std::size_t& len,
const uint8_t& command);
160 void send(uint8_t* buf, const ::std::size_t& len);
187 #endif // _RL_HAL_SICKLMS200_H_
uint8_t configuration
Definition: SickLms200.h:166
::std::string password
Definition: SickLms200.h:176
Monitoring
Definition: SickLms200.h:72
void send(uint8_t *buf, const ::std::size_t &len)
Definition: SickLms200.cpp:920
@ VARIANT_100_100
Angle = 100 degrees, resolution = 1 degree.
Definition: SickLms200.h:84
@ BAUDRATE_500000BPS
500,000 bps.
Definition: SickLms200.h:57
void getDistances(::rl::math::Vector &distances) const
Definition: SickLms200.cpp:304
@ VARIANT_100_50
Angle = 100 degrees, resolution = 0.5 degrees.
Definition: SickLms200.h:82
::rl::math::Real getStartAngle() const
Definition: SickLms200.cpp:560
Variant variant
Definition: SickLms200.h:182
Measuring measuring
Definition: SickLms200.h:172
@ MEASURING_320M
Definition: SickLms200.h:68
@ VARIANT_180_100
Angle = 180 degrees, resolution = 1 degree.
Definition: SickLms200.h:88
Measuring getMeasuring() const
Definition: SickLms200.cpp:519
::std::size_t recv(uint8_t *buf, const ::std::size_t &len, const uint8_t &command)
Definition: SickLms200.cpp:799
::rl::math::Real getResolution() const
Definition: SickLms200.cpp:535
@ MEASURING_32M
Definition: SickLms200.h:65
@ MEASURING_16M
Definition: SickLms200.h:64
void setMonitoring(const Monitoring &monitoring)
Definition: SickLms200.cpp:1119
void open()
Definition: SickLms200.cpp:634
@ MEASURING_80M
Definition: SickLms200.h:66
virtual ~SickLms200()
Definition: SickLms200.cpp:75
Serial * serial
Definition: SickLms200.h:178
Monitoring getMonitoring() const
Definition: SickLms200.cpp:527
::std::size_t getDistancesCount() const
Definition: SickLms200.cpp:448
Variant getVariant() const
Definition: SickLms200.cpp:626
@ MEASURING_160M
Definition: SickLms200.h:67
Measuring
Definition: SickLms200.h:62
Definition: SickLms200.h:43
void setBaudRate(const BaudRate &baudRate)
Definition: SickLms200.cpp:947
bool waitAck()
Definition: SickLms200.cpp:1285
Monitoring monitoring
Definition: SickLms200.h:174
BaudRate getBaudRate() const
Definition: SickLms200.cpp:298
SickLms200(const ::std::string &device="/dev/ttyS0", const BaudRate &baudRate=BAUDRATE_9600BPS, const Monitoring &monitoring=MONITORING_SINGLE, const Variant &variant=VARIANT_180_50, const Measuring &measuring=MEASURING_8M, const ::std::string &password="SICK_LMS")
Definition: SickLms200.cpp:43
@ VARIANT_100_25
Angle = 100 degrees, resolution = 0.25 degrees.
Definition: SickLms200.h:80
BaudRate baudRate
Definition: SickLms200.h:164
::rl::util::Timer timer
Definition: SickLms200.h:180
@ BAUDRATE_19200BPS
19,200 bps.
Definition: SickLms200.h:50
uint8_t data[812]
Definition: SickLms200.h:168
@ BAUDRATE_9600BPS
9,600 bps.
Definition: SickLms200.h:48
BaudRate
Definition: SickLms200.h:46
@ VARIANT_180_50
Angle = 180 degrees, resolution = 0.5 degrees.
Definition: SickLms200.h:86
void start()
Definition: SickLms200.cpp:1224
::rl::math::Real getStopAngle() const
Definition: SickLms200.cpp:583
::rl::math::Real getDistancesMaximum(const ::std::size_t &i) const
Definition: SickLms200.cpp:477
::std::string getType()
Definition: SickLms200.cpp:606
@ BAUDRATE_38400BPS
38,400 bps.
Definition: SickLms200.h:55
void close()
Definition: SickLms200.cpp:81
void setVariant(const Variant &variant)
Definition: SickLms200.cpp:1163
@ MEASURING_8M
Definition: SickLms200.h:63
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:41
void setMeasuring(const Measuring &measuring)
Definition: SickLms200.cpp:1021
void stop()
Definition: SickLms200.cpp:1274
@ MONITORING_CONTINUOUS
Definition: SickLms200.h:73
void step()
Definition: SickLms200.cpp:1235
void dumpStatus()
Definition: SickLms200.cpp:199
uint16_t crc(const uint8_t *buf, const ::std::size_t &len) const
Definition: SickLms200.cpp:111
void dumpConfiguration()
Definition: SickLms200.cpp:134
double Real
Definition: Real.h:34
BaudRate desired
Definition: SickLms200.h:170
void reset()
Definition: SickLms200.cpp:898
::rl::math::Real getDistancesMinimum(const ::std::size_t &i) const
Definition: SickLms200.cpp:510
@ MONITORING_SINGLE
Definition: SickLms200.h:74
Variant
Definition: SickLms200.h:78