rl::hal::SickLms200 Class Reference

Sick LMS 200 laser measurement system. More...

#include <SickLms200.h>

Inheritance diagram for rl::hal::SickLms200:

Public Types
enum	BaudRate { BAUDRATE_9600BPS, BAUDRATE_19200BPS, BAUDRATE_38400BPS, BAUDRATE_500000BPS }
enum	Measuring {   MEASURING_8M, MEASURING_16M, MEASURING_32M, MEASURING_80M,   MEASURING_160M, MEASURING_320M }
enum	Monitoring { MONITORING_CONTINUOUS, MONITORING_SINGLE }
enum	Variant {   VARIANT_100_25, VARIANT_100_50, VARIANT_100_100, VARIANT_180_50,   VARIANT_180_100 }

Public Member Functions
	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")
virtual	~SickLms200 ()
void	close ()
void	dumpConfiguration ()
void	dumpStatus ()
BaudRate	getBaudRate () const
::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
Measuring	getMeasuring () const
Monitoring	getMonitoring () const
::rl::math::Real	getResolution () const
::rl::math::Real	getStartAngle () const
::rl::math::Real	getStopAngle () const
::std::string	getType ()
Variant	getVariant () const
void	open ()
void	reset ()
void	setBaudRate (const BaudRate &baudRate)
void	setMeasuring (const Measuring &measuring)
void	setMonitoring (const Monitoring &monitoring)
void	setVariant (const Variant &variant)
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, const ::std::size_t &len, const ::std::uint8_t &command)
void	send (::std::uint8_t *buf, const ::std::size_t &len)
bool	waitAck ()

Private Attributes
BaudRate	baudRate
::std::uint8_t	configuration
::std::array< ::std::uint8_t, 812 >	data
BaudRate	desired
Measuring	measuring
Monitoring	monitoring
::std::string	password
Serial	serial
Variant	variant

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

Detailed Description

Sick LMS 200 laser measurement system.

Member Enumeration Documentation

BaudRate

enum rl::hal::SickLms200::BaudRate

Enumerator
BAUDRATE_9600BPS	9,600 bps.
BAUDRATE_19200BPS	19,200 bps.
BAUDRATE_38400BPS	38,400 bps.
BAUDRATE_500000BPS	500,000 bps.

Measuring

enum rl::hal::SickLms200::Measuring

Enumerator
MEASURING_8M
MEASURING_16M
MEASURING_32M
MEASURING_80M
MEASURING_160M
MEASURING_320M

Monitoring

enum rl::hal::SickLms200::Monitoring

Enumerator
MONITORING_CONTINUOUS
MONITORING_SINGLE

Variant

enum rl::hal::SickLms200::Variant

Enumerator
VARIANT_100_25	Angle = 100 degrees, resolution = 0.25 degrees.
VARIANT_100_50	Angle = 100 degrees, resolution = 0.5 degrees.
VARIANT_100_100	Angle = 100 degrees, resolution = 1 degree.
VARIANT_180_50	Angle = 180 degrees, resolution = 0.5 degrees.
VARIANT_180_100	Angle = 180 degrees, resolution = 1 degree.

Constructor & Destructor Documentation

SickLms200()

rl::hal::SickLms200::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"
	)

Parameters

[in]

password

String with 8 characters comprising "0...9", "a...z", "A...Z", and "_".

~SickLms200()

rl::hal::SickLms200::~SickLms200 ( )

virtual

Member Function Documentation

close()

void rl::hal::SickLms200::close ( )

virtual

Precondition

stop()

Implements rl::hal::Device.

crc()

std::uint16_t rl::hal::SickLms200::crc ( const ::std::uint8_t *  buf, const ::std::size_t &  len  ) const

private

dumpConfiguration()

void rl::hal::SickLms200::dumpConfiguration

(

)

dumpStatus()

void rl::hal::SickLms200::dumpStatus

(

)

getBaudRate()

SickLms200::BaudRate rl::hal::SickLms200::getBaudRate

(

)

const

getDistances()

rl::math::Vector rl::hal::SickLms200::getDistances ( ) const

virtual

Parameters

[out]

distances

[m]

Implements rl::hal::RangeSensor.

getDistancesCount()

std::size_t rl::hal::SickLms200::getDistancesCount ( ) const

virtual

Implements rl::hal::RangeSensor.

getDistancesMaximum()

rl::math::Real rl::hal::SickLms200::getDistancesMaximum ( const ::std::size_t &  i ) const

virtual

Returns

[m]

Implements rl::hal::RangeSensor.

getDistancesMinimum()

rl::math::Real rl::hal::SickLms200::getDistancesMinimum ( const ::std::size_t &  i ) const

virtual

Returns

[m]

Implements rl::hal::RangeSensor.

getMeasuring()

SickLms200::Measuring rl::hal::SickLms200::getMeasuring

(

)

const

getMonitoring()

SickLms200::Monitoring rl::hal::SickLms200::getMonitoring

(

)

const

getResolution()

rl::math::Real rl::hal::SickLms200::getResolution ( ) const

virtual

Implements rl::hal::Lidar.

getStartAngle()

rl::math::Real rl::hal::SickLms200::getStartAngle ( ) const

virtual

Implements rl::hal::Lidar.

getStopAngle()

rl::math::Real rl::hal::SickLms200::getStopAngle ( ) const

virtual

Implements rl::hal::Lidar.

getType()

std::string rl::hal::SickLms200::getType

(

)

getVariant()

SickLms200::Variant rl::hal::SickLms200::getVariant

(

)

const

open()

void rl::hal::SickLms200::open ( )

virtual

Implements rl::hal::Device.

recv()

std::size_t rl::hal::SickLms200::recv ( ::std::uint8_t *  buf, const ::std::size_t &  len, const ::std::uint8_t &  command  )

private

reset()

void rl::hal::SickLms200::reset

(

)

send()

void rl::hal::SickLms200::send ( ::std::uint8_t *  buf, const ::std::size_t &  len  )

private

setBaudRate()

void rl::hal::SickLms200::setBaudRate

(

const BaudRate &

baudRate

)

setMeasuring()

void rl::hal::SickLms200::setMeasuring

(

const Measuring &

measuring

)

setMonitoring()

void rl::hal::SickLms200::setMonitoring

(

const Monitoring &

monitoring

)

setVariant()

void rl::hal::SickLms200::setVariant

(

const Variant &

variant

)

start()

void rl::hal::SickLms200::start ( )

virtual

Precondition

open()

Implements rl::hal::Device.

step()

void rl::hal::SickLms200::step ( )

virtual

Precondition

start()

Implements rl::hal::CyclicDevice.

stop()

void rl::hal::SickLms200::stop ( )

virtual

Precondition

open()

Implements rl::hal::Device.

waitAck()

bool rl::hal::SickLms200::waitAck ( )

private

Member Data Documentation

baudRate

BaudRate rl::hal::SickLms200::baudRate

private

configuration

::std::uint8_t rl::hal::SickLms200::configuration

private

data

::std::array< ::std::uint8_t, 812> rl::hal::SickLms200::data

private

desired

BaudRate rl::hal::SickLms200::desired

private

measuring

Measuring rl::hal::SickLms200::measuring

private

monitoring

Monitoring rl::hal::SickLms200::monitoring

private

password

::std::string rl::hal::SickLms200::password

private

serial

Serial rl::hal::SickLms200::serial

private

variant

Variant rl::hal::SickLms200::variant

private

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

• rl/hal/SickLms200.h
• rl/hal/SickLms200.cpp