int main(int argc, char *argv[])
{
Connection_information information(argc, argv);
// 接続
Urg_driver urg;
if (!urg.open(information.device_or_ip_name(),
information.baudrate_or_port_number(),
information.connection_type())) {
cout << "Urg_driver::open(): "
<< information.device_or_ip_name() << ": " << urg.what() << endl;
return 1;
}
// データ取得
enum { Capture_times = 1 };
urg.start_measurement(Urg_driver::Multiecho, Capture_times, 0);
for (int i = 0; i < Capture_times; ++i) {
vector<long> data;
long time_stamp = 0;
if (!urg.get_multiecho(data, &time_stamp)) {
cout << "Urg_driver::get_distance(): " << urg.what() << endl;
return 1;
}
print_data(urg, data, time_stamp);
}
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
Connection_information information(argc, argv);
// 接続
Urg_driver urg;
if (!urg.open(information.device_or_ip_name(),
information.baudrate_or_port_number(),
information.connection_type())) {
cout << "Urg_driver::open(): "
<< information.device_or_ip_name() << ": " << urg.what() << endl;
return 1;
}
// データは１ステップのみ取得する
int min_step = urg.min_step();
urg.set_scanning_parameter(min_step, min_step);
// 比較用に PC とセンサのタイムスタンプを表示する
print_timestamp(urg);
cout << endl;
// センサに PC のタイムスタンプを設定し、
// 距離データを取得したときに得られるタイムスタンプが、
// PC から得られるタイムスタンプと同じになるようにする
urg.set_sensor_time_stamp(ticks());
// 設定後に PC とセンサのタイムスタンプを表示する
print_timestamp(urg);
return 0;
}
int main(int argc, char *argv[])
{
Connection_information information(argc, argv);
// 接続
Urg_driver urg;
if (!urg.open(information.device_or_ip_name(),
information.baudrate_or_port_number(),
information.connection_type())) {
cout << "Urg_driver::open(): "
<< information.device_or_ip_name() << ": " << urg.what() << endl;
return 1;
}
// データ取得
#if 1
// データの取得範囲を変更する場合
urg.set_scanning_parameter(urg.deg2step(-90), urg.deg2step(+90), 0);
#endif
enum { Capture_times = 10 };
urg.start_measurement(Urg_driver::Distance, Urg_driver::Infinity_times, 0);
for (int i = 0; i < Capture_times; ++i) {
vector<long> data;
long time_stamp = 0;
if (!urg.get_distance(data, &time_stamp)) {
cout << "Urg_driver::get_distance(): " << urg.what() << endl;
return 1;
}
print_data(urg, data, time_stamp);
}
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
Connection_information information(argc, argv);
// \~japanese 接続
// \~english Connects to the sensor
Urg_driver urg;
if (!urg.open(information.device_or_ip_name(),
information.baudrate_or_port_number(),
information.connection_type())) {
cout << "Urg_driver::open():"
<< information.device_or_ip_name() << ": " << urg.what() << endl;
return 1;
}
// \~japanese パラメータ情報の表示
// \~english Displays sensor parameters
cout << "Sensor product type: " << urg.product_type() << endl;
cout << "Sensor firmware version: " << urg.firmware_version() << endl;
cout << "Sensor serial ID: " << urg.serial_id() << endl;
cout << "Sensor status: " << urg.status() << endl;
cout << "Sensor state: " << urg.state() << endl;
cout << "step: ["
<< urg.min_step() << ", "
<< urg.max_step() << "]" << endl;
cout << "distance: ["
<< urg.min_distance()
<< ", " << urg.max_distance() << endl;
cout << "scan interval: " << urg.scan_usec() << " [usec]" << endl;
cout << "sensor data size: " << urg.max_data_size() << endl;
urg.close();
#if defined(URG_MSC)
getchar();
#endif
return 0;
}