Exemplos de Urg_driver::open em C++ (Cpp)

Exemplo n.º 1

Arquivo: get_multiecho.cpp Projeto: satofumi/quick_robot_sdk

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;
}

Exemplo n.º 2

Arquivo: sync_time_stamp.cpp Projeto: satofumi/quick_robot_sdk

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;
}

Exemplo n.º 3

Arquivo: sensor_parameter.cpp Projeto: UrgNetwork/urg_library

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;
}

Exemplo n.º 4

Arquivo: get_distance.cpp Projeto: Fuzyou/urg

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;
}