lasertransform.h
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: toranger.cc:91
#define PLAYER_RANGER_REQ_INTNS
Request/reply subtype: intensity data config.
Definition: player_interfaces.h:4970
player_ranger_geom_t geom
The geometry of the device at the time the scan was acquired.
Definition: player_interfaces.h:5043
uint32_t intensities_count
Number of intensity readings.
Definition: player_interfaces.h:5056
virtual void Publish(player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true)
Publish a message via one of this driver's interfaces.
#define PLAYER_LASER_DATA_SCAN
Data subtype: scan.
Definition: player_interfaces.h:845
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:158
A rectangular bounding box, used to define the size of an object.
Definition: player.h:253
#define PLAYER_POINTCLOUD3D_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:4854
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
#define PLAYER_PTZ_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:1208
#define PLAYER_LASER_REQ_SET_CONFIG
Request/reply subtype: set configuration.
Definition: player_interfaces.h:857
#define PLAYER_LASER_DATA_SCANPOSE
Data subtype: pose-stamped scan.
Definition: player_interfaces.h:848
player_pose3d_t pose
Laser pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:948
double ReadTupleLength(int section, const char *name, int index, double value)
Read a length from a tuple (includes units conversion)
player_ranger_data_intns_t data
The scan data.
Definition: player_interfaces.h:5068
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG)
Definition: player_interfaces.h:4983
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:888
#define PLAYER_RANGER_DATA_INTNS
Data subtype: intensity scan.
Definition: player_interfaces.h:4955
Data: Stamped range scan (PLAYER_RANGER_DATA_RANGESTAMPED)
Definition: player_interfaces.h:5036
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:165
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: lasertransform.cc:86
#define PLAYER_RANGER_REQ_GET_CONFIG
Request/reply subtype: get configuration.
Definition: player_interfaces.h:4976
Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.
Definition: player_interfaces.h:4879
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
double ReadTupleFloat(int section, const char *name, int index, double value)
Read a float (double) from a tuple field.
Definition: lasertransform.h:47
double max_angle
End angle of scans [rad].
Definition: player_interfaces.h:4988
double min_angle
Start angle of scans [rad].
Definition: player_interfaces.h:4986
#define PLAYER_RANGER_DATA_RANGE
Data subtype: range scan.
Definition: player_interfaces.h:4949
double ReadAngle(int section, const char *name, double value)
Read an angle (includes unit conversion).
#define PLAYER_RANGER_DATA_INTNSSTAMPED
Data subtype: intensity scan with extra info.
Definition: player_interfaces.h:4958
double ReadLength(int section, const char *name, double value)
Read a length (includes unit conversion, if any).
player_pose2d_t pose
The global pose of the laser at the time the scan was acquired.
Definition: player_interfaces.h:914
QueuePointer InQueue
Queue for all incoming messages for this driver.
Definition: driver.h:284
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
void PutMsg(QueuePointer &resp_queue, uint8_t type, uint8_t subtype, void *src, size_t deprecated, double *timestamp)
Send a message to this device.
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:5027
player_laser_data_t scan
The scan data.
Definition: player_interfaces.h:912
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
static bool MatchDeviceAddress(player_devaddr_t addr1, player_devaddr_t addr2)
Compare two addresses.
Definition: device.h:200
uint8_t state
FALSE to turn laser off, TRUE to turn laser on.
Definition: player_interfaces.h:986
#define PLAYER_LASER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:854
#define PLAYER_MSGTYPE_RESP_NACK
A negative response message.
Definition: player.h:124
#define PLAYER_RANGER_REQ_POWER
Request/reply subtype: power config.
Definition: player_interfaces.h:4967
#define PLAYER_LASER_REQ_GET_CONFIG
Request/reply subtype: get configuration.
Definition: player_interfaces.h:860
double ReadTupleAngle(int section, const char *name, int index, double value)
Read an angle form a tuple (includes units conversion)
#define PLAYER_RANGER_REQ_SET_CONFIG
Request/reply subtype: set configuration.
Definition: player_interfaces.h:4973
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
int GetTupleCount(int section, const char *name)
Get the number of values in a tuple.
float resolution
Scan resolution [rad].
Definition: player_interfaces.h:968
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:964
double * intensities
Intensity readings.
Definition: player_interfaces.h:5058
#define PLAYER_RANGER_DATA_RANGESTAMPED
Data subtype: range scan with extra info.
Definition: player_interfaces.h:4952
void SetFilter(int host, int robot, int interf, int index, int type, int subtype)
Set filter values.
double range_res
Range resolution [m].
Definition: player_interfaces.h:4997
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:886
player_devaddr_t device_addr
Default device address (single-interface drivers)
Definition: driver.h:268
double max_range
Maximum range [m].
Definition: player_interfaces.h:4995
float range_res
Range Resolution [m].
Definition: player_interfaces.h:972
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
double timestamp
Time associated with message contents (seconds since epoch)
Definition: player.h:169
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:966
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
#define PLAYER_POSITION2D_CMD_POS
Command: position (PLAYER_POSITION2D_CMD_POS)
Definition: player_interfaces.h:588
player_bbox3d_t size
Laser dimensions (m, m, m).
Definition: player_interfaces.h:950
double * ranges
Range readings [m].
Definition: player_interfaces.h:5029
3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plu...
Definition: player_interfaces.h:4861
double frequency
Scanning frequency [Hz].
Definition: player_interfaces.h:4999
uint32_t intensity_count
Number of intensity readings.
Definition: player_interfaces.h:898
Definition: toranger.h:32
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)
Definition: player_interfaces.h:909
float scanning_frequency
Scanning frequency [Hz].
Definition: player_interfaces.h:976
float resolution
Angular resolution [rad].
Definition: player_interfaces.h:890
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
int Unsubscribe(QueuePointer &sub_queue)
Unsubscribe the given queue from this device.
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:163
#define PLAYER_RANGER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:4964
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:75
double angular_res
Scan resolution [rad].
Definition: player_interfaces.h:4990
#define PLAYER_LASER_REQ_POWER
Request/reply subtype: set power.
Definition: player_interfaces.h:863
Data: Stamped intensity scan (PLAYER_RANGER_DATA_INTNSSTAMPED)
Definition: player_interfaces.h:5065
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:900
player_ranger_data_range_t data
The scan data.
Definition: player_interfaces.h:5039