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#ifndef QRK_M_URG_CTRL_H
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#define QRK_M_URG_CTRL_H
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\brief ���j�^�Ή��� URG ����
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\author Satofumi KAMIMURA
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$Id: mUrgCtrl.h 1684 2010-02-10 23:56:38Z satofumi $
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\brief ���j�^�Ή��� URG ����
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class mUrgCtrl : public RangeSensor
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mUrgCtrl(const mUrgCtrl& rhs);
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mUrgCtrl& operator = (const mUrgCtrl& rhs);
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std::auto_ptr<pImpl> pimpl;
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\brief �I�v�V�����p�p�����[�^
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DefaultBaudrate = 115200, //!< �ڑ����̃f�t�H���g�{�[���[�g
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Infinity = 0, //!< ������̃f�[�^�擾
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- Record ���[�h (-r �w��)
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- �擾�f�[�^�����O�t�@�C���ɏ����o��
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- Play ���[�h (-p �w��)
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- ���O�t�@�C���̃f�[�^���擾�f�[�^�Ƃ��Ĉ���
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// �v���O�������s���̈����� -r, -p ���w�肷�邱�Ƃœ��삪�ς��B
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// % ./a.exe -r �f�[�^���擾���A�L�^����
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// % ./a.exe -p �L�^�ς݂̃f�[�^���Đ�����
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// �������A�L�^���ƍĐ����ł͓����v���O�������g�����ƁB
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int main(int argc, char *argv[])
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mUrgCtrl urg(argc, argv);
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if (! urg.connect("COM4")) {
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urg.capture(data, ×tamp);
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explicit mUrgCtrl(int argc, char *argv[]);
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const char* what(void) const;
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bool connect(const char* device, long baudrate = DefaultBaudrate);
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void setConnection(Connection* con);
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Connection* connection(void);
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void disconnect(void);
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bool isConnected(void) const;
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long minDistance(void) const;
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long maxDistance(void) const;
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int maxScanLines(void) const;
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void setRetryTimes(size_t times);
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int scanMsec(void) const;
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void setCaptureMode(RangeCaptureMode mode);
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RangeCaptureMode captureMode(void);
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void setCaptureRange(int begin_index, int end_index);
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void setCaptureFrameInterval(size_t interval);
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void setCaptureTimes(size_t times);
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size_t remainCaptureTimes(void);
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void setCaptureSkipLines(size_t skip_lines);
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int capture(std::vector<long>& data, long* timestamp = NULL);
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int captureWithIntensity(std::vector<long>& data,
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std::vector<long>& intensity_data,
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long* timestamp = NULL);
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bool setTimestamp(int ticks = 0, int* response_msec = NULL,
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int* force_delay_msec = NULL);
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bool setLaserOutput(bool on);
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double index2rad(const int index) const;
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int rad2index(const double radian) const;
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void setParameter(const RangeSensorParameter& parameter);
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RangeSensorParameter parameter(void) const;
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bool loadParameter(void);
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bool versionLines(std::vector<std::string>& lines);
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#endif /* !QRK_M_URG_CTRL_H */
added
removed
include/cpp/mUrgCtrl.h
