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playerc_laser_t Struct Reference

Laser proxy data. More...

#include <playerc.h>

Public Attributes

playerc_device_t info
 Device info; must be at the start of all device structures.
 
double pose [3]
 Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent.
 
double size [2]
 
double robot_pose [3]
 Robot pose (m,m,rad), filled in if the scan came with a pose attached.
 
int intensity_on
 Is intesity data returned.
 
int scan_count
 Number of points in the scan.
 
double scan_start
 Start bearing of the scan (radians).
 
double scan_res
 Angular resolution in radians.
 
double range_res
 Range resolution, in m.
 
double max_range
 Maximum range of sensor, in m.
 
double scanning_frequency
 Scanning frequency in Hz.
 
double * ranges
 Raw range data; range (m).
 
double(* scan )[2]
 Scan data; range (m) and bearing (radians).
 
player_point_2d_tpoint
 Scan data; x, y position (m).
 
int * intensity
 Scan reflection intensity values (0-3).
 
int scan_id
 ID for this scan.
 
int laser_id
 Laser IDentification information.
 
double min_right
 Minimum range, in meters, in the right half of the scan (those ranges from the first beam, counterclockwise, up to the middle of the scan, including the middle beam, if one exists).
 
double min_left
 Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the middle of the scan, counterclockwise, to the last beam).
 

Detailed Description

Laser proxy data.

Member Data Documentation

playerc_device_t playerc_laser_t::info

Device info; must be at the start of all device structures.

int* playerc_laser_t::intensity

Scan reflection intensity values (0-3).

Note that the intensity values will only be filled if intensity information is enabled (using the set_config function).

int playerc_laser_t::intensity_on

Is intesity data returned.

double playerc_laser_t::max_range

Maximum range of sensor, in m.

double playerc_laser_t::min_left

Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the middle of the scan, counterclockwise, to the last beam).

double playerc_laser_t::min_right

Minimum range, in meters, in the right half of the scan (those ranges from the first beam, counterclockwise, up to the middle of the scan, including the middle beam, if one exists).

player_point_2d_t* playerc_laser_t::point

Scan data; x, y position (m).

double playerc_laser_t::pose[3]

Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent.

These values are filled in by playerc_laser_get_geom().

double playerc_laser_t::range_res

Range resolution, in m.

double* playerc_laser_t::ranges

Raw range data; range (m).

double(* playerc_laser_t::scan)[2]

Scan data; range (m) and bearing (radians).

int playerc_laser_t::scan_count

Number of points in the scan.

double playerc_laser_t::scan_res

Angular resolution in radians.

double playerc_laser_t::scan_start

Start bearing of the scan (radians).

double playerc_laser_t::scanning_frequency

Scanning frequency in Hz.


The documentation for this struct was generated from the following file:

Last updated 12 September 2005 21:38:45