The ranger proxy provides an interface to ranger sensor devices.
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PLAYERC_EXPORT playerc_ranger_t * | playerc_ranger_create (playerc_client_t *client, int index) |
| Create a ranger proxy. More...
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PLAYERC_EXPORT void | playerc_ranger_destroy (playerc_ranger_t *device) |
| Destroy a ranger proxy. More...
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PLAYERC_EXPORT int | playerc_ranger_subscribe (playerc_ranger_t *device, int access) |
| Subscribe to the ranger device. More...
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PLAYERC_EXPORT int | playerc_ranger_unsubscribe (playerc_ranger_t *device) |
| Un-subscribe from the ranger device. More...
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PLAYERC_EXPORT int | playerc_ranger_get_geom (playerc_ranger_t *device) |
| Get the ranger geometry. More...
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PLAYERC_EXPORT int | playerc_ranger_power_config (playerc_ranger_t *device, uint8_t value) |
| Turn device power on or off. More...
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PLAYERC_EXPORT int | playerc_ranger_intns_config (playerc_ranger_t *device, uint8_t value) |
| Turn intensity data on or off. More...
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PLAYERC_EXPORT int | playerc_ranger_set_config (playerc_ranger_t *device, double min_angle, double max_angle, double angular_res, double min_range, double max_range, double range_res, double frequency) |
| Set the ranger device's configuration. More...
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PLAYERC_EXPORT int | playerc_ranger_get_config (playerc_ranger_t *device, double *min_angle, double *max_angle, double *angular_res, double *min_range, double *max_range, double *range_res, double *frequency) |
| Get the ranger device's configuration. More...
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The ranger proxy provides an interface to ranger sensor devices.
◆ playerc_ranger_create()
◆ playerc_ranger_destroy()
◆ playerc_ranger_get_config()
PLAYERC_EXPORT int playerc_ranger_get_config |
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playerc_ranger_t * |
device, |
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double * |
min_angle, |
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double * |
max_angle, |
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double * |
angular_res, |
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double * |
min_range, |
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double * |
max_range, |
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double * |
range_res, |
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double * |
frequency |
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Get the ranger device's configuration.
Not all values may be filled.
- Parameters
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min_angle | Start angle of scans [rad]. |
max_angle | End angle of scans [rad]. |
resolution | Scan resolution [rad]. |
max_range | Maximum range [m]. |
range_res | Range resolution [m]. |
frequency | Scanning frequency [Hz]. |
◆ playerc_ranger_get_geom()
Get the ranger geometry.
This writes the result into the proxy rather than returning it to the caller.
◆ playerc_ranger_intns_config()
PLAYERC_EXPORT int playerc_ranger_intns_config |
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playerc_ranger_t * |
device, |
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uint8_t |
value |
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Turn intensity data on or off.
- Parameters
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value | Set to TRUE to turn the data on, FALSE to turn the data off. |
◆ playerc_ranger_power_config()
PLAYERC_EXPORT int playerc_ranger_power_config |
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playerc_ranger_t * |
device, |
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uint8_t |
value |
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Turn device power on or off.
- Parameters
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value | Set to TRUE to turn power on, FALSE to turn power off. |
◆ playerc_ranger_set_config()
PLAYERC_EXPORT int playerc_ranger_set_config |
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playerc_ranger_t * |
device, |
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double |
min_angle, |
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double |
max_angle, |
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double |
angular_res, |
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double |
min_range, |
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double |
max_range, |
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double |
range_res, |
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double |
frequency |
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) |
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Set the ranger device's configuration.
Not all values may be used.
- Parameters
-
min_angle | Start angle of scans [rad]. |
max_angle | End angle of scans [rad]. |
resolution | Scan resolution [rad]. |
max_range | Maximum range [m]. |
range_res | Range resolution [m]. |
frequency | Scanning frequency [Hz]. |
◆ playerc_ranger_subscribe()
PLAYERC_EXPORT int playerc_ranger_subscribe |
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playerc_ranger_t * |
device, |
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int |
access |
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Subscribe to the ranger device.
◆ playerc_ranger_unsubscribe()
Un-subscribe from the ranger device.