Robotics Library  0.6.0
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Public Member Functions | Private Member Functions | Private Attributes
rl::hal::SickS300 Class Reference

#include <SickS300.h>

Inheritance diagram for rl::hal::SickS300:
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Collaboration diagram for rl::hal::SickS300:
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List of all members.

Public Member Functions

 SickS300 (const ::std::string &device="/dev/ttyS0", const Serial::BaudRate &baudRate=Serial::BAUDRATE_9600BPS)
virtual ~SickS300 ()
void close ()
void getDistances (::rl::math::Vector &distances) 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::Lidar
 Lidar ()
virtual ~Lidar ()
- Public Member Functions inherited from rl::hal::RangeSensor
 RangeSensor ()
virtual ~RangeSensor ()
- Public Member Functions inherited from rl::hal::Device
 Device ()
virtual ~Device ()
bool isConnected () const
bool isRunning () const

Private Member Functions

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

Private Attributes

uint8_t data [2048]
Serial serial

Constructor & Destructor Documentation

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

Member Function Documentation

void rl::hal::SickS300::close ( )
virtual
Precondition:
stop()

Implements rl::hal::Device.

uint16_t rl::hal::SickS300::crc ( const uint8_t *  buf,
const ::std::size_t &  len 
) const
private
void rl::hal::SickS300::getDistances ( ::rl::math::Vector distances) const
virtual
Parameters:
distances[m]

Implements rl::hal::RangeSensor.

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

Implements rl::hal::RangeSensor.

rl::math::Real rl::hal::SickS300::getDistancesMaximum ( const ::std::size_t &  i) const
virtual
Returns:
[m]

Implements rl::hal::RangeSensor.

rl::math::Real rl::hal::SickS300::getDistancesMinimum ( const ::std::size_t &  i) const
virtual
Returns:
[m]

Implements rl::hal::RangeSensor.

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

Implements rl::hal::Lidar.

std::size_t rl::hal::SickS300::getScanNumber ( ) const
rl::math::Real rl::hal::SickS300::getStartAngle ( ) const
virtual

Implements rl::hal::Lidar.

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

Implements rl::hal::Lidar.

std::size_t rl::hal::SickS300::getTelegramNumber ( ) const
void rl::hal::SickS300::open ( )
virtual

Implements rl::hal::Device.

std::size_t rl::hal::SickS300::recv ( uint8_t *  buf)
private
void rl::hal::SickS300::start ( )
virtual
Precondition:
open()

Implements rl::hal::Device.

void rl::hal::SickS300::step ( )
virtual
Precondition:
start()

Implements rl::hal::Device.

void rl::hal::SickS300::stop ( )
virtual
Precondition:
open()

Implements rl::hal::Device.


Member Data Documentation

uint8_t rl::hal::SickS300::data[2048]
private
Serial rl::hal::SickS300::serial
private

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