virtual void logOptions()
{
puts(
"Laser types and options may also be set in the robot parameter file. See the\n"
"ARIA reference documentation for details.\n\n"
"If a program supports multiple lasers, then options for additional lasers\n"
"after the first are given by appending the laser number (e.g. -laserType2)\n"
"To enable use of a laser, choose its type with the -laserType<N> options\n"
"(e.g.: -laserType lms2xx -laserType2 urg)\n\n"
"The default laser type for the primary laser (laser 1) is \"lms2xx\".\n\n"
"Instruct a program to connect to a laser using the -connectLaser<N> option;\n"
"if a program requires use of a laser it usually always attempts to connect to\n"
"the primary laser, however.\n\n"
"The index number is optional in options for the primary laser (laser 1).\n\n"
);
// sick
puts("\nFor laser type \"lms2xx\":\n");
addPlaceholderLaser(&sickLaser, 1);
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
// urg
puts("\nFor laser type \"urg\":\n");
addPlaceholderLaser(&urgLaser, 1); // replace sick as first laser
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
}
virtual void logOptions()
{
puts(
"Laser types and options may also be set in the robot parameter file. See the\n"
"ARIA reference documentation for details.\n\n"
"If a program supports multiple lasers, then options for additional lasers\n"
"after the first are given by appending the laser number (e.g. -laserType2)\n"
"To enable use of a laser, choose its type with the -laserType<N> options\n"
"(e.g.: -laserType lms2xx -laserType2 urg2.0)\n\n"
"The default laser type for the primary laser (laser 1) is specified in the\n"
"robot type parameter file in the ARIA \"params\" directory. For many robots\n"
"it is \"lms2xx\", the SICK LMS200. For some it is \"lms1xx\", for the SICK\n"
"LMS100 or LMS111.\n\n"
"Instruct a program to connect to a laser using the -connectLaser<N> option\n"
"or by setting LaserAutoConnect to true in the robot's parameter file.\n"
"If a program requires use of a laser it usually always attempts to connect to\n"
"the primary laser, however.\n\n"
"The index number is optional in any options for the primary laser; i.e. 1 is\n"
"assumed if the index number is omitted.\n\n"
);
// TODO loop through all laser registered with Aria class and instantiate
// them that way.
// lms 200
puts("\nFor laser type \"lms2xx\" (SICK LMS-200):\n");
addPlaceholderLaser(&lms2xxLaser, 1);
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
// lms 100
puts("\nFor laser type \"lms1xx\" (SICK LMS-100, LMS-111, etc.):\n");
addPlaceholderLaser(&lms1xxLaser, 1); // replace lms2xx as first laser
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
// urg2.0
puts("\nFor laser type \"urg2.0\" (URG with SCIP 2.0):\n");
addPlaceholderLaser(&urg2Laser, 1); // replace lms1xx as first laser
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
// urg 1.0
puts("\nFor laser type \"urg\" (URG with old SCIP 1.0):\n");
addPlaceholderLaser(&urgLaser, 1); // replace urg2.0 as first laser
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
// LMS500
puts("\nFor laser type \"lms5XX\" (SICK LMS-500):\n");
addPlaceholderLaser(&lms5xxLaser, 1); // replace previous
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
// SZ
puts("\nFor laser type \"sZseries\" (Keyence SZ):\n");
addPlaceholderLaser(&szLaser, 1); // replace previous
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
// S3xx
puts("\nFor laser type \"s3series\" (SICK S-300, S-3000, etc.):\n");
addPlaceholderLaser(&s3xxLaser, 1); // replace previous
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
// TiM3xx
puts("\nFor laser type \"tim3XX\" (SICK TiM300):\n");
addPlaceholderLaser(&tim3xxLaser, 1); // replace previous
ArLaserConnector::logLaserOptions(myLasers[1], false, false);
}
