rl::hal::SickS300 Class Reference

Sick S300 safety laser scanner. More...

#include <SickS300.h>

Inheritance diagram for rl::hal::SickS300:

Public Member Functions
	SickS300 (const ::std::string &device="/dev/ttyS0", const Serial::BaudRate &baudRate=Serial::BAUDRATE_9600BPS)
virtual	~SickS300 ()
void	close ()
::rl::math::Vector	getDistances () const
::std::size_t	getDistancesCount () const
::rl::math::Real	getDistancesMaximum (const ::std::size_t &i) const
::rl::math::Real	getDistancesMinimum (const ::std::size_t &i) const
::rl::math::Real	getResolution () const
::std::size_t	getScanNumber () const
::rl::math::Real	getStartAngle () const
::rl::math::Real	getStopAngle () const
::std::size_t	getTelegramNumber () const
void	open ()
void	start ()
void	step ()
void	stop ()
Public Member Functions inherited from rl::hal::CyclicDevice
	CyclicDevice (const ::std::chrono::nanoseconds &updateRate)
virtual	~CyclicDevice ()
virtual ::std::chrono::nanoseconds	getUpdateRate () const
Public Member Functions inherited from rl::hal::Device
	Device ()
virtual	~Device ()
bool	isConnected () const
bool	isRunning () const
Public Member Functions inherited from rl::hal::Lidar
	Lidar ()
virtual	~Lidar ()
Public Member Functions inherited from rl::hal::RangeSensor
	RangeSensor ()
virtual	~RangeSensor ()

Private Member Functions
::std::uint16_t	crc (const ::std::uint8_t *buf, const ::std::size_t &len) const
::std::size_t	recv (::std::uint8_t *buf)

Private Attributes
::std::array< ::std::uint8_t, 2048 >	data
Serial	serial

Additional Inherited Members
Protected Member Functions inherited from rl::hal::Device
void	setConnected (const bool &connected)
void	setRunning (const bool &running)

Detailed Description

Sick S300 safety laser scanner.

Constructor & Destructor Documentation

SickS300()

rl::hal::SickS300::SickS300	(	const ::std::string &	device = "/dev/ttyS0",
		const Serial::BaudRate &	baudRate = Serial::BAUDRATE_9600BPS
	)

~SickS300()

rl::hal::SickS300::~SickS300 ( )

virtual

Member Function Documentation

close()

void rl::hal::SickS300::close ( )

virtual

Precondition

stop()

Implements rl::hal::Device.

crc()

std::uint16_t rl::hal::SickS300::crc ( const ::std::uint8_t *  buf, const ::std::size_t &  len  ) const

private

getDistances()

rl::math::Vector rl::hal::SickS300::getDistances ( ) const

virtual

Parameters

[out]

distances

[m]

Implements rl::hal::RangeSensor.

getDistancesCount()

std::size_t rl::hal::SickS300::getDistancesCount ( ) const

virtual

Implements rl::hal::RangeSensor.

getDistancesMaximum()

rl::math::Real rl::hal::SickS300::getDistancesMaximum ( const ::std::size_t &  i ) const

virtual

Returns

[m]

Implements rl::hal::RangeSensor.

getDistancesMinimum()

rl::math::Real rl::hal::SickS300::getDistancesMinimum ( const ::std::size_t &  i ) const

virtual

Returns

[m]

Implements rl::hal::RangeSensor.

getResolution()

rl::math::Real rl::hal::SickS300::getResolution ( ) const

virtual

Implements rl::hal::Lidar.

getScanNumber()

std::size_t rl::hal::SickS300::getScanNumber

(

)

const

getStartAngle()

rl::math::Real rl::hal::SickS300::getStartAngle ( ) const

virtual

Implements rl::hal::Lidar.

getStopAngle()

rl::math::Real rl::hal::SickS300::getStopAngle ( ) const

virtual

Implements rl::hal::Lidar.

getTelegramNumber()

std::size_t rl::hal::SickS300::getTelegramNumber

(

)

const

open()

void rl::hal::SickS300::open ( )

virtual

Implements rl::hal::Device.

recv()

std::size_t rl::hal::SickS300::recv ( ::std::uint8_t *  buf )

private

start()

void rl::hal::SickS300::start ( )

virtual

Precondition

open()

Implements rl::hal::Device.

step()

void rl::hal::SickS300::step ( )

virtual

Precondition

start()

Implements rl::hal::CyclicDevice.

stop()

void rl::hal::SickS300::stop ( )

virtual

Precondition

open()

Implements rl::hal::Device.

Member Data Documentation

data

::std::array< ::std::uint8_t, 2048> rl::hal::SickS300::data

private

serial

Serial rl::hal::SickS300::serial

private

---

The documentation for this class was generated from the following files:

• rl/hal/SickS300.h
• rl/hal/SickS300.cpp