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;
}