From 46b7ddff4e154dc79115642951f053a6ad53c4fb Mon Sep 17 00:00:00 2001 From: yangfuyuan Date: Tue, 17 Jul 2018 23:56:04 +0800 Subject: [PATCH] 1. add imu sync 2. update sdk version to v1.3.6 --- CMakeLists.txt | 7 + README.md | 40 +- config/config.ini | 7 + launch/ydlidar.launch | 12 - package.xml | 4 + sdk/CMakeLists.txt | 7 +- sdk/README.md | 135 +- sdk/doc/html/_c_yd_lidar_8h_source.html | 16 +- sdk/doc/html/_matrix_8hpp.html | 171 ++ sdk/doc/html/_matrix_8hpp__dep__incl.map | 9 + sdk/doc/html/_matrix_8hpp__dep__incl.md5 | 1 + sdk/doc/html/_matrix_8hpp__dep__incl.png | Bin 0 -> 27475 bytes sdk/doc/html/_matrix_8hpp__incl.map | 9 + sdk/doc/html/_matrix_8hpp__incl.md5 | 1 + sdk/doc/html/_matrix_8hpp__incl.png | Bin 0 -> 34208 bytes sdk/doc/html/_matrix_8hpp_source.html | 108 ++ sdk/doc/html/_square_matrix_8hpp.html | 275 +++ .../html/_square_matrix_8hpp__dep__incl.map | 9 + .../html/_square_matrix_8hpp__dep__incl.md5 | 1 + .../html/_square_matrix_8hpp__dep__incl.png | Bin 0 -> 27643 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find_package(rclcpp REQUIRED) find_package(rmw REQUIRED) find_package(sensor_msgs REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) set(SDK_PATH "./sdk/") @@ -27,18 +29,23 @@ include_directories( ${PROJECT_SOURCE_DIR}/src ${PROJECT_SOURCE_DIR}/sdk/include ${PROJECT_SOURCE_DIR}/sdk/src + ${PROJECT_SOURCE_DIR}/sdk/matrix ) add_executable(ydlidar_node src/ydlidar_node.cpp ${SDK_SRC}) ament_target_dependencies(ydlidar_node "rclcpp" "sensor_msgs" + "visualization_msgs" + "geometry_msgs" ) add_executable(ydlidar_client src/ydlidar_client.cpp) ament_target_dependencies(ydlidar_client "rclcpp" "sensor_msgs" + "visualization_msgs" + "geometry_msgs" ) diff --git a/README.md b/README.md index 78a0cac..604ba89 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -YDLIDAR ROS2 PACKAGE V1.3.1 +YDLIDAR ROS2 PACKAGE V1.3.5 ===================================================================== ROS2 node and test application for YDLIDAR @@ -65,6 +65,22 @@ resolution_fixed (bool, default: true) indicated whether the LIDAR has a fixed angular resolution. +auto_reconnect (bool, default: true) + + indicated whether the LIDAR auto reconnection. + +debug (bool, default: false) + + indicated whether the LIDAR save parsing. + +reversion (bool, default: false) + + indicated whether the LIDAR data rotation 180°. + +intensities (bool, default: false) + + indicated whether the LIDAR has intensity. + angle_min (double, default: -180) Min valid angle (°) for LIDAR data. @@ -93,11 +109,33 @@ frequency (double, default: 7) the LIDAR scanning frequency. +sensor_x (double, default: 0) + + the LIDAR　X axis installation coordinates + +sensor_y (double, default: 0) + + the LIDAR　Y axis installation coordinates + +sensor_yaw (double, default: 0) + + the LIDAR　installation direction + + + + Upgrade Log ===================================================================== + +2018-07-16 version:1.3.5 + + 1.Update SDK verison to 1.3.6 + + 2.add imu sync. + 2018-04-16 version:1.3.1 1.Update SDK verison to 1.3.1 diff --git a/config/config.ini b/config/config.ini index adfba78..dd1778f 100644 --- a/config/config.ini +++ b/config/config.ini @@ -8,8 +8,15 @@ angle_fixed =TRUE resolution_fixed =FALSE heartbeat =FALSE low_exposure =FALSE +auto_reconnect = TRUE +reversion = FALSE +debug = FALSE +intensities = FALSE angle_max =180 angle_min =-180 max_range =16.0 min_range =0.08 frequency =7.0 +sensor_x =0.0 +sensor_y =0.0 +sensor_yaw =0.0 diff --git a/launch/ydlidar.launch b/launch/ydlidar.launch deleted file mode 100644 index 782d600..0000000 --- a/launch/ydlidar.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - diff --git a/package.xml b/package.xml index 935377f..4674546 100644 --- a/package.xml +++ b/package.xml @@ -13,9 +13,13 @@ rclcpp sensor_msgs + visualization_msgs + geometry_msgs rclcpp sensor_msgs + visualization_msgs + geometry_msgs ament_cmake_gtest ament_lint_auto diff --git a/sdk/CMakeLists.txt b/sdk/CMakeLists.txt index 740f897..1af8cf4 100644 --- a/sdk/CMakeLists.txt +++ b/sdk/CMakeLists.txt @@ -3,6 +3,8 @@ cmake_minimum_required(VERSION 2.8) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") include_directories(include) include_directories(src) +include_directories(matrix) + IF (WIN32) FILE(GLOB SDK_SRC @@ -11,6 +13,8 @@ FILE(GLOB SDK_SRC "src/*.h" "src/impl/windows/*.cpp" "src/impl/windows/*.h" + "matrix/matrix/*.hpp" + ) ELSE() @@ -20,13 +24,14 @@ FILE(GLOB SDK_SRC "src/*.h" "src/impl/unix/*.cpp" "src/impl/unix/*.h" + "matrix/matrix/*.hpp" + ) ENDIF() add_subdirectory(samples) - add_library(ydlidar_driver SHARED ${SDK_SRC}) set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) IF (WIN32) diff --git a/sdk/README.md b/sdk/README.md index b188a4e..08fe3f4 100644 --- a/sdk/README.md +++ b/sdk/README.md @@ -1,4 +1,4 @@ -YDLIDAR SDK PACKAGE V1.3.3 +YDLIDAR SDK PACKAGE V1.3.6 ===================================================================== SDK [test](https://github.com/yangfuyuan/sdk) application for YDLIDAR @@ -7,48 +7,86 @@ Visit EAI Website for more details about [YDLIDAR](http://www.ydlidar.com/) . How to build YDLIDAR SDK samples ===================================================================== + $ git clone https://github.com/yangfuyuan/sdk + $ cd sdk + $ git checkout master + $ cd .. + $ mkdir build + $ cd build + $ cmake ../sdk + $ make ###linux + $ vs open Project.sln ###windows - + How to run YDLIDAR SDK samples ===================================================================== + $ cd samples linux: $ ./ydlidar_test - $Please enter the lidar port:/dev/ttyUSB0 - $Please enter the lidar baud rate:230400 + + $ Please enter the lidar port:/dev/ttyUSB0 + + $ Please enter the lidar baud rate:115200 + + $ Please enter the lidar intensity:0 + windows: $ ydlidar_test.exe - $Please enter the lidar port:COM3 - $Please enter the lidar baud rate:230400 + + $ Please enter the lidar port:COM3 + + $ Please enter the lidar baud rate:115200 + + $ Please enter the lidar intensity:0 ===================================================================== You should see YDLIDAR's scan result in the console: - Yd Lidar running correctly ! The health status: good - [YDLIDAR] Connection established in [/dev/ttyUSB0]: - Firmware version: 2.0.9 - Hardware version: 2 - Model: G4 - Serial: 2018022700000003 - [YDLIDAR INFO] Current Sampling Rate : 9K - [YDLIDAR INFO] Current Scan Frequency : 7.400000Hz - [YDLIDAR INFO] Now YDLIDAR is scanning ...... - Scan received: 43 ranges - Scan received: 1361 ranges - Scan received: 1412 ranges + YDLIDAR C++ TEST + Please enter the lidar port:/dev/ttyUSB0 + Please enter the lidar baud rate:115200 + Please enter the lidar intensity:1 + fhs_lock: creating lockfile: 25148 + + Yd Lidar running correctly ! The health status: good + firmware: 273 + [YDLIDAR] Connection established in [/dev/ttyUSB0]: + Firmware version: 1.1.7 + Hardware version: 1 + Model: S4 + Serial: 2018022700000003 + [YDLIDAR INFO] Current Sampling Rate : 4K + [YDLIDAR INFO] Current Scan Frequency : 7.000000Hz + set EXPOSURE MODEL SUCCESS!!! + [YDLIDAR INFO] Now YDLIDAR is scanning ...... + min_angle: -3.141593 + max_angle: 3.141593 + Scan received: 571 ranges + fit line size: 9 + line length: 0.127150, line angle: -1.888069 + line length: 0.149980, line angle: -2.520781 + line length: 0.149141, line angle: -2.590903 + line length: 0.186178, line angle: -2.221969 + line length: 0.123318, line angle: -2.354801 + line length: 0.086761, line angle: 2.476112 + line length: 0.035698, line angle: 2.552944 + line length: 0.108063, line angle: 0.907348 + line length: 0.115837, line angle: -1.229582 + Lidar point data structure @@ -56,18 +94,44 @@ Lidar point data structure data structure: + struct odom_info { + + uint64_t stamp; ///< 时间戳 + + double x; ///< x位置 + + double y; ///< y位置 + + double phi; ///< 角度方向 + + double v; ///< 线速度 + + double w; ///< 角速度 + + double dx; ///< x位置增量 + + double dy; ///< y位置增量 + + double dth; ///< 方向增量 + + }; + struct node_info { - uint8_t sync_quality;//!intensity + uint8_t sync_flag;//new scan flag + + uint16_t sync_quality;//!intensity uint16_t angle_q6_checkbit; //!angle - uint16_t distance_q2; //! distance + uint16_t distance_q; //! distance uint64_t stamp; //! time stamp uint8_t scan_frequence;//! current_frequence = scan_frequence/10.0, If the current value equals zero, it is an invalid value - + + odom_info current_odom; //! current odometry sync pose + } __attribute__((packed)) ; example: @@ -79,18 +143,18 @@ example: current_time_stamp = data[i].stamp; - current_distance = data[i].distance_q2/4.f; + current_distance = data[i].distance_q;　//v1.3.5版本之后距离不用右移２位 current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f); - current_intensity = (float)(data[i].sync_quality >> 2); + current_intensity = (float)(data[i].sync_quality);//v1.3.5版本之后信号质量不用右移２位 ###note:current_frequence = data[0].scan_frequence/10.0. ###if the current_frequence value equals zero, it is an invalid value. code: - + void ParseScan(node_info* data, const size_t& size) { double current_frequence, current_distance, current_angle, current_intensity; @@ -109,9 +173,9 @@ code: current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);//LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT equals 8 - current_distance = data[i].distance_q2/4.f; + current_distance = data[i].distance_q; - current_intensity = (float)(data[i].sync_quality >> 2); + current_intensity = (float)(data[i].sync_quality ); } @@ -132,6 +196,24 @@ code: Upgrade Log ===================================================================== + +2018-07-17 version:1.3.6 + + 1.add fit line. + + +2018-05-23 version:1.3.5 + + 1.add sync imu or odometry. + + 2.update scan protocol. + +2018-05-23 version:1.3.4 + + 1.add automatic reconnection if there is an exception + + 2.add serial file lock. + 2018-05-14 version:1.3.3 1.add the heart function constraint. @@ -145,4 +227,3 @@ Upgrade Log 2018-04-16 version:1.3.1 1.Compensate for each laser point timestamp. - diff --git a/sdk/doc/html/_c_yd_lidar_8h_source.html b/sdk/doc/html/_c_yd_lidar_8h_source.html index eea56b4..7fad325 100644 --- a/sdk/doc/html/_c_yd_lidar_8h_source.html +++ b/sdk/doc/html/_c_yd_lidar_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/include/CYdLidar.h Source File +YDLIDAR SDK: include/CYdLidar.h Source File @@ -22,10 +22,9 @@ - @@ -91,8 +90,15 @@
CYdLidar.h
-
1 
2 #pragma once
3 #include "utils.h"
4 #include "ydlidar_driver.h"
5 #include <math.h>
6 
7 #if !defined(__cplusplus)
8 #ifndef __cplusplus
9 #error "The YDLIDAR SDK requires a C++ compiler to be built"
10 #endif
11 #endif
12 #define PropertyBuilderByName(type, name, access_permission)\
13  access_permission:\
14  type m_##name;\
15  public:\
16  inline void set##name(type v) {\
17  m_##name = v;\
18  }\
19  inline type get##name() {\
20  return m_##name;\
21 }\
22 
23 #ifndef _countof
24 #define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
25 #endif
26 
27 #ifndef M_PI
28 #define M_PI 3.1415926
29 #endif
30 
31 #define DEG2RAD(x) ((x)*M_PI/180.)
32 
33 class YDLIDAR_API CYdLidar
34 {
35  PropertyBuilderByName(float,MaxRange,private)
36  PropertyBuilderByName(float,MinRange,private)
37  PropertyBuilderByName(float,MaxAngle,private)
38  PropertyBuilderByName(float,MinAngle,private)
39  PropertyBuilderByName(int,ScanFrequency,private)
40 
41  PropertyBuilderByName(bool,Intensities,private)
42  PropertyBuilderByName(bool,FixedResolution,private)
43  PropertyBuilderByName(bool,Exposure,private)
44  PropertyBuilderByName(bool,HeartBeat,private)
45  PropertyBuilderByName(bool,Reversion, private)
46 
47  PropertyBuilderByName(int,SerialBaudrate,private)
48  PropertyBuilderByName(int,SampleRate,private)
49 
50  PropertyBuilderByName(std::string,SerialPort,private)
51  PropertyBuilderByName(std::vector<float>,IgnoreArray,private)
52 
53 
54 public:
55  CYdLidar();
56  virtual ~CYdLidar();
57 
58  bool initialize();
59 
60  // Return true if laser data acquistion succeeds, If it's not
61  bool doProcessSimple(LaserScan &outscan, bool &hardwareError);
62 
63  //Turn on the motor enable
64  bool turnOn();
65  //Turn off the motor enable and close the scan
66  bool turnOff();
67 
69  bool getDeviceHealth() const;
70 
72  bool getDeviceInfo(int &type);
73 
75  bool checkHeartBeat() const;
76 
78  bool checkScanFrequency();
79 
80  //Turn off lidar connection
81  void disconnecting();
82 
83 protected:
88  bool checkCOMMs();
89 
93  bool checkStatus();
94 
98  bool checkHardware();
99 
100 
101 
102 private:
103  bool isScanning;
104  int node_counts ;
105  double each_angle;
106  int show_error;
107 }; // End of class
108 
LaserScan
Definition: ydlidar_driver.h:212
-
CYdLidar
Definition: CYdLidar.h:33
+
1 
2 #pragma once
3 #include "line_feature.h"
4 #include "utils.h"
5 #include "ydlidar_driver.h"
6 #include <math.h>
7 #include "matrix/math.hpp"
8 
9 #if !defined(__cplusplus)
10 #ifndef __cplusplus
11 #error "The YDLIDAR SDK requires a C++ compiler to be built"
12 #endif
13 #endif
14 #define PropertyBuilderByName(type, name, access_permission)\
15  access_permission:\
16  type m_##name;\
17  public:\
18  inline void set##name(type v) {\
19  m_##name = v;\
20  }\
21  inline type get##name() {\
22  return m_##name;\
23 }\
24 
25 #ifndef _countof
26 #define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
27 #endif
28 
29 #ifndef M_PI
30 #define M_PI 3.1415926
31 #endif
32 
33 #ifndef DEG2RAD
34 #define DEG2RAD(x) ((x)*M_PI/180.)
35 #endif
36 
37 using namespace line_feature;
38 
39 class YDLIDAR_API CYdLidar
40 {
41  PropertyBuilderByName(float,MaxRange,private)
42  PropertyBuilderByName(float,MinRange,private)
43  PropertyBuilderByName(float,MaxAngle,private)
44  PropertyBuilderByName(float,MinAngle,private)
45  PropertyBuilderByName(int,ScanFrequency,private)
46 
47  PropertyBuilderByName(bool,Intensities,private)
48  PropertyBuilderByName(bool,FixedResolution,private)
49  PropertyBuilderByName(bool,Exposure,private)
50  PropertyBuilderByName(bool,HeartBeat,private)
51  PropertyBuilderByName(bool,Reversion, private)
52  PropertyBuilderByName(bool,AutoReconnect, private)
53  PropertyBuilderByName(bool,EnableDebug, private)
54 
55 
56 
57  PropertyBuilderByName(int,SerialBaudrate,private)
58  PropertyBuilderByName(int,SampleRate,private)
59 
60  PropertyBuilderByName(std::string,SerialPort,private)
61  PropertyBuilderByName(std::vector<float>,IgnoreArray,private)
62 
63 
64 public:
65  CYdLidar();
66  virtual ~CYdLidar();
67 
68  bool initialize();
69 
70  // Return true if laser data acquistion succeeds, If it's not
71  bool doProcessSimple(LaserScan &outscan, LaserScan &syncscan, PointCloud &pointcloud, std::vector<gline>& lines, bool &hardwareError);
72 
73  //Turn on the motor enable
74  bool turnOn();
75  //Turn off the motor enable and close the scan
76  bool turnOff();
77 
79  bool getDeviceHealth() const;
80 
82  bool getDeviceInfo(int &type);
83 
85  bool checkHeartBeat() const;
86 
88  bool checkScanFrequency();
89 
94  void setSyncOdometry(const odom_info& odom);
95 
100  void setSensorPose(const pose_info& pose);
101 
102  //Turn off lidar connection
103  void disconnecting();
104 
105 protected:
110  bool checkCOMMs();
111 
115  bool checkStatus();
116 
120  bool checkHardware();
121 
122 
123 
124 private:
125  bool isScanning;
126  int node_counts ;
127  double each_angle;
128  int show_error;
129 
130  matrix::SquareMatrix<double, 3> sensor_matrix;
131  matrix::SquareMatrix<double, 3> sensor_matrix_inv;
132  matrix::SquareMatrix<double, 3> robot_matrix;
133  matrix::Vector<double, 3> lidar_sensor_vector;
134  matrix::Vector<double, 3> current_sensor_vector;
135 
136  LineFeature line_feature_;
137 
138 }; // End of class
139 
+ +
odom_info
Definition: ydlidar_driver.h:108
+
LaserScan
Definition: ydlidar_driver.h:249
+
PointCloud
Definition: ydlidar_driver.h:263
+
CYdLidar
Definition: CYdLidar.h:39
+
line_feature::LineFeature
Definition: line_feature.h:13
+
line_feature
Definition: line_feature.h:10
+
pose_info
Definition: ydlidar_driver.h:94
diff --git a/sdk/doc/html/_matrix_8hpp.html b/sdk/doc/html/_matrix_8hpp.html new file mode 100644 index 0000000..aa9bc40 --- /dev/null +++ b/sdk/doc/html/_matrix_8hpp.html @@ -0,0 +1,171 @@ + + + + + + +YDLIDAR SDK: matrix/matrix/Matrix.hpp File Reference + + + + + + + + + + +
+
+
YDLIDAR SDK -  V1.3.3 +  V1.3.6
+ + + + + +
+
YDLIDAR SDK +  V1.3.6 +
+
+ + + + + + + +
+
+ + +
+ +
+ + + +
+
+Classes | +Functions
+
+
Matrix.hpp File Reference
+
+
+
#include <cstdio>
+#include <cstring>
+#include "math.hpp"
+
+Include dependency graph for Matrix.hpp:
+
+
+ + + + + + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
+
+ + + + + + + + + +
+
+

Go to the source code of this file.

+ + + + + + +

+Classes

class  matrix::Vector< Type, M >
 
class  matrix::Matrix< Type, M, N >
 
+ + + + + + + + + + + + + + + + +

+Functions

+template<typename Type , size_t M, size_t N>
Matrix< Type, M, N > matrix::zeros ()
 
+template<typename Type , size_t M, size_t N>
Matrix< Type, M, N > matrix::ones ()
 
+template<typename Type , size_t M, size_t N>
Matrix< Type, M, N > matrix::operator* (Type scalar, const Matrix< Type, M, N > &other)
 
+template<typename Type , size_t M, size_t N>
bool matrix::isEqual (const Matrix< Type, M, N > &x, const Matrix< Type, M, N > &y, const Type eps=1e-4f)
 
+template<typename Type >
bool matrix::isEqualF (Type x, Type y, Type eps=1e-4f)
 
+

Detailed Description

+

A simple matrix template library.

+
Author
James Goppert james.nosp@m..gop.nosp@m.pert@.nosp@m.gmai.nosp@m.l.com
+
+ +
+Generated by   +doxygen + 1.8.11 +
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+
+
Matrix.hpp
+
+
+Go to the documentation of this file.
1 
9 #pragma once
10 
11 #include <cstdio>
12 #include <cstring>
13 
14 #if defined(SUPPORT_STDIOSTREAM)
15 #include <iostream>
16 #include <iomanip>
17 #endif // defined(SUPPORT_STDIOSTREAM)
18 
19 #include "math.hpp"
20 
21 namespace matrix
22 {
23 
24 template <typename Type, size_t M>
25 class Vector;
26 
27 template<typename Type, size_t M, size_t N>
28 class Matrix
29 {
30 
31 public:
32 
33  Type _data[M][N];
34 
35  // Constructors
36  Matrix() : _data() {}
37 
38  Matrix(const Type data_[][N]) : _data()
39  {
40  memcpy(_data, data_, sizeof(_data));
41  }
42 
43  Matrix(const Type *data_) : _data()
44  {
45  memcpy(_data, data_, sizeof(_data));
46  }
47 
48  Matrix(const Matrix &other) : _data()
49  {
50  memcpy(_data, other._data, sizeof(_data));
51  }
52 
57  Type *data()
58  {
59  return _data[0];
60  }
61 
62  const Type *data() const
63  {
64  return _data[0];
65  }
66 
67  inline Type operator()(size_t i, size_t j) const
68  {
69  return _data[i][j];
70  }
71 
72  inline Type &operator()(size_t i, size_t j)
73  {
74  return _data[i][j];
75  }
76 
77  Matrix<Type, M, N> & operator=(const Matrix<Type, M, N> &other)
78  {
79  if (this != &other) {
80  memcpy(_data, other._data, sizeof(_data));
81  }
82  return (*this);
83  }
84 
89  // this might use a lot of programming memory
90  // since it instantiates a class for every
91  // required mult pair, but it provides
92  // compile time size_t checking
93  template<size_t P>
94  Matrix<Type, M, P> operator*(const Matrix<Type, N, P> &other) const
95  {
96  const Matrix<Type, M, N> &self = *this;
97  Matrix<Type, M, P> res;
98  res.setZero();
99 
100  for (size_t i = 0; i < M; i++) {
101  for (size_t k = 0; k < P; k++) {
102  for (size_t j = 0; j < N; j++) {
103  res(i, k) += self(i, j) * other(j, k);
104  }
105  }
106  }
107 
108  return res;
109  }
110 
111  Matrix<Type, M, N> emult(const Matrix<Type, M, N> &other) const
112  {
113  Matrix<Type, M, N> res;
114  const Matrix<Type, M, N> &self = *this;
115 
116  for (size_t i = 0; i < M; i++) {
117  for (size_t j = 0; j < N; j++) {
118  res(i, j) = self(i, j)*other(i, j);
119  }
120  }
121 
122  return res;
123  }
124 
125  Matrix<Type, M, N> edivide(const Matrix<Type, M, N> &other) const
126  {
127  Matrix<Type, M, N> res;
128  const Matrix<Type, M, N> &self = *this;
129 
130  for (size_t i = 0; i < M; i++) {
131  for (size_t j = 0; j < N; j++) {
132  res(i, j) = self(i, j)/other(i, j);
133  }
134  }
135 
136  return res;
137  }
138 
139  Matrix<Type, M, N> operator+(const Matrix<Type, M, N> &other) const
140  {
141  Matrix<Type, M, N> res;
142  const Matrix<Type, M, N> &self = *this;
143 
144  for (size_t i = 0; i < M; i++) {
145  for (size_t j = 0; j < N; j++) {
146  res(i, j) = self(i, j) + other(i, j);
147  }
148  }
149 
150  return res;
151  }
152 
153  Matrix<Type, M, N> operator-(const Matrix<Type, M, N> &other) const
154  {
155  Matrix<Type, M, N> res;
156  const Matrix<Type, M, N> &self = *this;
157 
158  for (size_t i = 0; i < M; i++) {
159  for (size_t j = 0; j < N; j++) {
160  res(i, j) = self(i, j) - other(i, j);
161  }
162  }
163 
164  return res;
165  }
166 
167  // unary minus
168  Matrix<Type, M, N> operator-() const
169  {
170  Matrix<Type, M, N> res;
171  const Matrix<Type, M, N> &self = *this;
172 
173  for (size_t i = 0; i < M; i++) {
174  for (size_t j = 0; j < N; j++) {
175  res(i, j) = -self(i, j);
176  }
177  }
178 
179  return res;
180  }
181 
182  void operator+=(const Matrix<Type, M, N> &other)
183  {
184  Matrix<Type, M, N> &self = *this;
185  self = self + other;
186  }
187 
188  void operator-=(const Matrix<Type, M, N> &other)
189  {
190  Matrix<Type, M, N> &self = *this;
191  self = self - other;
192  }
193 
194  template<size_t P>
195  void operator*=(const Matrix<Type, N, P> &other)
196  {
197  Matrix<Type, M, N> &self = *this;
198  self = self * other;
199  }
200 
205  Matrix<Type, M, N> operator*(Type scalar) const
206  {
207  Matrix<Type, M, N> res;
208  const Matrix<Type, M, N> &self = *this;
209 
210  for (size_t i = 0; i < M; i++) {
211  for (size_t j = 0; j < N; j++) {
212  res(i, j) = self(i, j) * scalar;
213  }
214  }
215 
216  return res;
217  }
218 
219  inline Matrix<Type, M, N> operator/(Type scalar) const
220  {
221  return (*this)*(1/scalar);
222  }
223 
224  Matrix<Type, M, N> operator+(Type scalar) const
225  {
226  Matrix<Type, M, N> res;
227  const Matrix<Type, M, N> &self = *this;
228 
229  for (size_t i = 0; i < M; i++) {
230  for (size_t j = 0; j < N; j++) {
231  res(i, j) = self(i, j) + scalar;
232  }
233  }
234 
235  return res;
236  }
237 
238  inline Matrix<Type, M, N> operator-(Type scalar) const
239  {
240  return (*this) + (-1*scalar);
241  }
242 
243  void operator*=(Type scalar)
244  {
245  Matrix<Type, M, N> &self = *this;
246 
247  for (size_t i = 0; i < M; i++) {
248  for (size_t j = 0; j < N; j++) {
249  self(i, j) = self(i, j) * scalar;
250  }
251  }
252  }
253 
254  void operator/=(Type scalar)
255  {
256  Matrix<Type, M, N> &self = *this;
257  self = self * (1.0f / scalar);
258  }
259 
260  inline void operator+=(Type scalar)
261  {
262  *this = (*this) + scalar;
263  }
264 
265  inline void operator-=(Type scalar)
266  {
267  *this = (*this) - scalar;
268  }
269 
270 
275  void write_string(char * buf, size_t n) const
276  {
277  buf[0] = '\0'; // make an empty string to begin with (we need the '\0' for strlen to work)
278  const Matrix<Type, M, N> &self = *this;
279  for (size_t i = 0; i < M; i++) {
280  for (size_t j = 0; j < N; j++) {
281  snprintf(buf + strlen(buf), n - strlen(buf), "\t%8.2g", double(self(i, j))); // directly append to the string buffer
282  }
283  snprintf(buf + strlen(buf), n - strlen(buf), "\n");
284  }
285  }
286 
287  void print() const
288  {
289  static const size_t n = 10*N*M;
290  char * buf = new char[n];
291  write_string(buf, n);
292  printf("%s\n", buf);
293  delete[] buf;
294  }
295 
296  Matrix<Type, N, M> transpose() const
297  {
298  Matrix<Type, N, M> res;
299  const Matrix<Type, M, N> &self = *this;
300 
301  for (size_t i = 0; i < M; i++) {
302  for (size_t j = 0; j < N; j++) {
303  res(j, i) = self(i, j);
304  }
305  }
306 
307  return res;
308  }
309 
310  // tranpose alias
311  inline Matrix<Type, N, M> T() const
312  {
313  return transpose();
314  }
315 
316  template<size_t P, size_t Q>
317  Matrix<Type, P, Q> slice(size_t x0, size_t y0) const
318  {
319  Matrix<Type, P, Q> res(&(_data[x0][y0]));
320  return res;
321  }
322 
323  template<size_t P, size_t Q>
324  void set(const Matrix<Type, P, Q> &m, size_t x0, size_t y0)
325  {
326  Matrix<Type, M, N> &self = *this;
327  for (size_t i = 0; i < P; i++) {
328  for (size_t j = 0; j < Q; j++) {
329  self(i + x0, j + y0) = m(i, j);
330  }
331  }
332  }
333 
334  void setRow(size_t i, const Matrix<Type, N, 1> &row)
335  {
336  Matrix<Type, M, N> &self = *this;
337  for (size_t j = 0; j < N; j++) {
338  self(i, j) = row(j, 0);
339  }
340  }
341 
342  void setCol(size_t j, const Matrix<Type, M, 1> &col)
343  {
344  Matrix<Type, M, N> &self = *this;
345  for (size_t i = 0; i < M; i++) {
346  self(i, j) = col(i, 0);
347  }
348  }
349 
350  void setZero()
351  {
352  memset(_data, 0, sizeof(_data));
353  }
354 
355  inline void zero()
356  {
357  setZero();
358  }
359 
360  void setAll(Type val)
361  {
362  Matrix<Type, M, N> &self = *this;
363 
364  for (size_t i = 0; i < M; i++) {
365  for (size_t j = 0; j < N; j++) {
366  self(i, j) = val;
367  }
368  }
369  }
370 
371  inline void setOne()
372  {
373  setAll(1);
374  }
375 
376  void setIdentity()
377  {
378  setZero();
379  Matrix<Type, M, N> &self = *this;
380 
381  for (size_t i = 0; i < M && i < N; i++) {
382  self(i, i) = 1;
383  }
384  }
385 
386  inline void identity()
387  {
388  setIdentity();
389  }
390 
391  inline void swapRows(size_t a, size_t b)
392  {
393  if (a == b) {
394  return;
395  }
396 
397  Matrix<Type, M, N> &self = *this;
398 
399  for (size_t j = 0; j < N; j++) {
400  Type tmp = self(a, j);
401  self(a, j) = self(b, j);
402  self(b, j) = tmp;
403  }
404  }
405 
406  inline void swapCols(size_t a, size_t b)
407  {
408  if (a == b) {
409  return;
410  }
411 
412  Matrix<Type, M, N> &self = *this;
413 
414  for (size_t i = 0; i < M; i++) {
415  Type tmp = self(i, a);
416  self(i, a) = self(i, b);
417  self(i, b) = tmp;
418  }
419  }
420 
421  Matrix<Type, M, N> abs() const
422  {
423  Matrix<Type, M, N> r;
424  for (size_t i=0; i<M; i++) {
425  for (size_t j=0; j<N; j++) {
426  r(i,j) = Type(fabs((*this)(i,j)));
427  }
428  }
429  return r;
430  }
431 
432  Type max() const
433  {
434  Type max_val = (*this)(0,0);
435  for (size_t i=0; i<M; i++) {
436  for (size_t j=0; j<N; j++) {
437  Type val = (*this)(i,j);
438  if (val > max_val) {
439  max_val = val;
440  }
441  }
442  }
443  return max_val;
444  }
445 
446  Type min() const
447  {
448  Type min_val = (*this)(0,0);
449  for (size_t i=0; i<M; i++) {
450  for (size_t j=0; j<N; j++) {
451  Type val = (*this)(i,j);
452  if (val < min_val) {
453  min_val = val;
454  }
455  }
456  }
457  return min_val;
458  }
459 
460 };
461 
462 template<typename Type, size_t M, size_t N>
463 Matrix<Type, M, N> zeros() {
464  Matrix<Type, M, N> m;
465  m.setZero();
466  return m;
467 }
468 
469 template<typename Type, size_t M, size_t N>
470 Matrix<Type, M, N> ones() {
471  Matrix<Type, M, N> m;
472  m.setOne();
473  return m;
474 }
475 
476 template<typename Type, size_t M, size_t N>
477 Matrix<Type, M, N> operator*(Type scalar, const Matrix<Type, M, N> &other)
478 {
479  return other * scalar;
480 }
481 
482 template<typename Type, size_t M, size_t N>
483 bool isEqual(const Matrix<Type, M, N> &x,
484  const Matrix<Type, M, N> &y, const Type eps=1e-4f) {
485 
486  bool equal = true;
487 
488  for (size_t i = 0; i < M; i++) {
489  for (size_t j = 0; j < N; j++) {
490  if (fabs(x(i, j) - y(i, j)) > eps) {
491  equal = false;
492  break;
493  }
494  }
495  if (equal == false) break;
496  }
497 
498 
499  if (!equal) {
500  static const size_t n = 10*N*M;
501  char * buf = new char[n];
502  x.write_string(buf, n);
503  printf("not equal\nx:\n%s\n", buf);
504  y.write_string(buf, n);
505  printf("y:\n%s\n", buf);
506  delete[] buf;
507  }
508  return equal;
509 }
510 
511 
512 template<typename Type>
513 bool isEqualF(Type x,
514  Type y, Type eps=1e-4f) {
515 
516  bool equal = true;
517 
518  if (fabs(x - y) > eps) {
519  equal = false;
520  }
521 
522  if (!equal) {
523  printf("not equal\nx:\n%g\ny:\n%g\n", double(x), double(y));
524  }
525  return equal;
526 }
527 
528 #if defined(SUPPORT_STDIOSTREAM)
529 template<typename Type, size_t M, size_t N>
530 std::ostream& operator<<(std::ostream& os,
531  const matrix::Matrix<Type, M, N>& matrix)
532 {
533  for (size_t i = 0; i < M; ++i) {
534  os << "[";
535  for (size_t j = 0; j < N; ++j) {
536  os << std::setw(10) << static_cast<double>(matrix(i, j));
537  os << "\t";
538  }
539  os << "]" << std::endl;
540  }
541  return os;
542 }
543 #endif // defined(SUPPORT_STDIOSTREAM)
544 
545 } // namespace matrix
546 
547 /* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
matrix::Vector
Definition: Matrix.hpp:25
+
matrix::Matrix::data
Type * data()
Definition: Matrix.hpp:57
+
matrix
Definition: helper_functions.hpp:5
+
matrix::Matrix::write_string
void write_string(char *buf, size_t n) const
Definition: Matrix.hpp:275
+
matrix::Matrix::operator*
Matrix< Type, M, N > operator*(Type scalar) const
Definition: Matrix.hpp:205
+
matrix::Matrix
Definition: Matrix.hpp:28
+
matrix::Matrix::operator*
Matrix< Type, M, P > operator*(const Matrix< Type, N, P > &other) const
Definition: Matrix.hpp:94
+
+ +
+Generated by   +doxygen + 1.8.11 +
+ + diff --git a/sdk/doc/html/_square_matrix_8hpp.html b/sdk/doc/html/_square_matrix_8hpp.html new file mode 100644 index 0000000..ab7a898 --- /dev/null +++ b/sdk/doc/html/_square_matrix_8hpp.html @@ -0,0 +1,275 @@ + + + + + + +YDLIDAR SDK: matrix/matrix/SquareMatrix.hpp File Reference + + + + + + + + + + +
+
+ + + + + + +
+
YDLIDAR SDK +  V1.3.6 +
+
+
+ + + + + + +
+
+ + +
+ +
+ + +
+
+
+Classes | +Typedefs | +Functions
+
+
SquareMatrix.hpp File Reference
+
+
+
#include "math.hpp"
+#include "helper_functions.hpp"
+
+Include dependency graph for SquareMatrix.hpp:
+
+
+ + + + + + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
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+ + + + + + + + + +
+
+

Go to the source code of this file.

+ + + + + + + + +

+Classes

class  matrix::Matrix< Type, M, N >
 
class  matrix::Vector< Type, M >
 
class  matrix::SquareMatrix< Type, M >
 
+ + + + + +

+Typedefs

+typedef SquareMatrix< float, 3 > matrix::SquareMatrix3f
 
+typedef SquareMatrix< float, 3 > matrix::Matrix3f
 
+ + + + + + + + + + + + + + + + + + + + + + +

+Functions

+template<typename Type , size_t M>
SquareMatrix< Type, M > matrix::eye ()
 
+template<typename Type , size_t M>
SquareMatrix< Type, M > matrix::diag (Vector< Type, M > d)
 
+template<typename Type , size_t M>
SquareMatrix< Type, M > matrix::expm (const Matrix< Type, M, M > &A, size_t order=5)
 
template<typename Type , size_t M>
bool matrix::inv (const SquareMatrix< Type, M > &A, SquareMatrix< Type, M > &inv)
 
template<typename Type , size_t M>
SquareMatrix< Type, M > matrix::inv (const SquareMatrix< Type, M > &A)
 
template<typename Type , size_t M>
SquareMatrix< Type, M > matrix::cholesky (const SquareMatrix< Type, M > &A)
 
template<typename Type , size_t M>
SquareMatrix< Type, M > matrix::choleskyInv (const SquareMatrix< Type, M > &A)
 
+

Detailed Description

+

A square matrix

+
Author
James Goppert james.nosp@m..gop.nosp@m.pert@.nosp@m.gmai.nosp@m.l.com
+

Function Documentation

+ +
+
+
+template<typename Type , size_t M>
+ + + + + + + + +
SquareMatrix<Type, M> matrix::cholesky (const SquareMatrix< Type, M > & A)
+
+

cholesky decomposition

+

Note: A must be positive definite

+ +
+
+ +
+
+
+template<typename Type , size_t M>
+ + + + + + + + +
SquareMatrix<Type, M> matrix::choleskyInv (const SquareMatrix< Type, M > & A)
+
+

cholesky inverse

+

TODO: Check if gaussian elimination jumps straight to back-substitution for L or we need to do it manually. Will impact speed otherwise.

+ +
+
+ +
+
+
+template<typename Type , size_t M>
+ + + + + + + + + + + + + + + + + + +
bool matrix::inv (const SquareMatrix< Type, M > & A,
SquareMatrix< Type, M > & inv 
)
+
+

inverse based on LU factorization with partial pivotting

+ +
+
+ +
+
+
+template<typename Type , size_t M>
+ + + + + + + + +
SquareMatrix<Type, M> matrix::inv (const SquareMatrix< Type, M > & A)
+
+

inverse based on LU factorization with partial pivotting

+ +
+
+
+ +
+Generated by   +doxygen + 1.8.11 +
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SquareMatrix.hpp
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1 
9 #pragma once
10 
11 #include "math.hpp"
12 #include "helper_functions.hpp"
13 
14 namespace matrix
15 {
16 
17 template <typename Type, size_t M, size_t N>
18 class Matrix;
19 
20 template <typename Type, size_t M>
21 class Vector;
22 
23 template<typename Type, size_t M>
24 class SquareMatrix : public Matrix<Type, M, M>
25 {
26 public:
27  SquareMatrix() :
28  Matrix<Type, M, M>()
29  {
30  }
31 
32  SquareMatrix(const Type *data_) :
33  Matrix<Type, M, M>(data_)
34  {
35  }
36 
37  SquareMatrix(const Matrix<Type, M, M> &other) :
38  Matrix<Type, M, M>(other)
39  {
40  }
41 
42  // inverse alias
43  inline SquareMatrix<Type, M> I() const
44  {
45  SquareMatrix<Type, M> i;
46  if(inv(*this, i)) {
47  return i;
48  } else {
49  i.setZero();
50  return i;
51  }
52  }
53 
54 
55  // inverse alias
56  inline bool I(SquareMatrix<Type, M> &i) const
57  {
58  return inv(*this, i);
59  }
60 
61 
62  Vector<Type, M> diag() const
63  {
64  Vector<Type, M> res;
65  const SquareMatrix<Type, M> &self = *this;
66 
67  for (size_t i = 0; i < M; i++) {
68  res(i) = self(i, i);
69  }
70  return res;
71  }
72 
73  Type trace() const
74  {
75  Type res = 0;
76  const SquareMatrix<Type, M> &self = *this;
77 
78  for (size_t i = 0; i < M; i++) {
79  res += self(i, i);
80  }
81  return res;
82  }
83 
84 };
85 
86 typedef SquareMatrix<float, 3> SquareMatrix3f;
87 
88 template<typename Type, size_t M>
89 SquareMatrix<Type, M> eye() {
90  SquareMatrix<Type, M> m;
91  m.setIdentity();
92  return m;
93 }
94 
95 template<typename Type, size_t M>
96 SquareMatrix<Type, M> diag(Vector<Type, M> d) {
97  SquareMatrix<Type, M> m;
98  for (size_t i=0; i<M; i++) {
99  m(i,i) = d(i);
100  }
101  return m;
102 }
103 
104 template<typename Type, size_t M>
105 SquareMatrix<Type, M> expm(const Matrix<Type, M, M> & A, size_t order=5)
106 {
107  SquareMatrix<Type, M> res;
108  SquareMatrix<Type, M> A_pow = A;
109  res.setIdentity();
110  size_t i_factorial = 1;
111  for (size_t i=1; i<=order; i++) {
112  i_factorial *= i;
113  res += A_pow / Type(i_factorial);
114  A_pow *= A_pow;
115  }
116 
117  return res;
118 }
119 
120 
124 template<typename Type, size_t M>
125 bool inv(const SquareMatrix<Type, M> & A, SquareMatrix<Type, M> & inv)
126 {
127  SquareMatrix<Type, M> L;
128  L.setIdentity();
129  SquareMatrix<Type, M> U = A;
130  SquareMatrix<Type, M> P;
131  P.setIdentity();
132 
133  //printf("A:\n"); A.print();
134 
135  // for all diagonal elements
136  for (size_t n = 0; n < M; n++) {
137 
138  // if diagonal is zero, swap with row below
139  if (fabs(static_cast<float>(U(n, n))) < 1e-8f) {
140  //printf("trying pivot for row %d\n",n);
141  for (size_t i = n + 1; i < M; i++) {
142 
143  //printf("\ttrying row %d\n",i);
144  if (fabs(static_cast<float>(U(i, n))) > 1e-8f) {
145  //printf("swapped %d\n",i);
146  U.swapRows(i, n);
147  P.swapRows(i, n);
148  L.swapRows(i, n);
149  L.swapCols(i, n);
150  break;
151  }
152  }
153  }
154 
155 #ifdef MATRIX_ASSERT
156  //printf("A:\n"); A.print();
157  //printf("U:\n"); U.print();
158  //printf("P:\n"); P.print();
159  //fflush(stdout);
160  //ASSERT(fabs(U(n, n)) > 1e-8f);
161 #endif
162 
163  // failsafe, return zero matrix
164  if (fabs(static_cast<float>(U(n, n))) < 1e-8f) {
165  return false;
166  }
167 
168  // for all rows below diagonal
169  for (size_t i = (n + 1); i < M; i++) {
170  L(i, n) = U(i, n) / U(n, n);
171 
172  // add i-th row and n-th row
173  // multiplied by: -a(i,n)/a(n,n)
174  for (size_t k = n; k < M; k++) {
175  U(i, k) -= L(i, n) * U(n, k);
176  }
177  }
178  }
179 
180  //printf("L:\n"); L.print();
181  //printf("U:\n"); U.print();
182 
183  // solve LY=P*I for Y by forward subst
184  //SquareMatrix<Type, M> Y = P;
185 
186  // for all columns of Y
187  for (size_t c = 0; c < M; c++) {
188  // for all rows of L
189  for (size_t i = 0; i < M; i++) {
190  // for all columns of L
191  for (size_t j = 0; j < i; j++) {
192  // for all existing y
193  // subtract the component they
194  // contribute to the solution
195  P(i, c) -= L(i, j) * P(j, c);
196  }
197 
198  // divide by the factor
199  // on current
200  // term to be solved
201  // Y(i,c) /= L(i,i);
202  // but L(i,i) = 1.0
203  }
204  }
205 
206  //printf("Y:\n"); Y.print();
207 
208  // solve Ux=y for x by back subst
209  //SquareMatrix<Type, M> X = Y;
210 
211  // for all columns of X
212  for (size_t c = 0; c < M; c++) {
213  // for all rows of U
214  for (size_t k = 0; k < M; k++) {
215  // have to go in reverse order
216  size_t i = M - 1 - k;
217 
218  // for all columns of U
219  for (size_t j = i + 1; j < M; j++) {
220  // for all existing x
221  // subtract the component they
222  // contribute to the solution
223  P(i, c) -= U(i, j) * P(j, c);
224  }
225 
226  // divide by the factor
227  // on current
228  // term to be solved
229  //
230  // we know that U(i, i) != 0 from above
231  P(i, c) /= U(i, i);
232  }
233  }
234 
235  //check sanity of results
236  for (size_t i = 0; i < M; i++) {
237  for (size_t j = 0; j < M; j++) {
238  if (!is_finite(P(i,j))) {
239  return false;
240  }
241  }
242  }
243  //printf("X:\n"); X.print();
244  inv = P;
245  return true;
246 }
247 
251 template<typename Type, size_t M>
252 SquareMatrix<Type, M> inv(const SquareMatrix<Type, M> & A)
253 {
254  SquareMatrix<Type, M> i;
255  if(inv(A, i)) {
256  return i;
257  } else {
258  i.setZero();
259  return i;
260  }
261 }
262 
268 template<typename Type, size_t M>
269 SquareMatrix <Type, M> cholesky(const SquareMatrix<Type, M> & A)
270 {
271  SquareMatrix<Type, M> L;
272  for (size_t j = 0; j < M; j++) {
273  for (size_t i = j; i < M; i++) {
274  if (i==j) {
275  float sum = 0;
276  for (size_t k = 0; k < j; k++) {
277  sum += L(j, k)*L(j, k);
278  }
279  Type res = A(j, j) - sum;
280  if (res <= 0) {
281  L(j, j) = 0;
282  } else {
283  L(j, j) = sqrt(res);
284  }
285  } else {
286  float sum = 0;
287  for (size_t k = 0; k < j; k++) {
288  sum += L(i, k)*L(j, k);
289  }
290  if (L(j, j) <= 0) {
291  L(i, j) = 0;
292  } else {
293  L(i, j) = (A(i, j) - sum)/L(j, j);
294  }
295  }
296  }
297  }
298  return L;
299 }
300 
307 template<typename Type, size_t M>
308 SquareMatrix <Type, M> choleskyInv(const SquareMatrix<Type, M> & A)
309 {
310  SquareMatrix<Type, M> L_inv = inv(cholesky(A));
311  return L_inv.T()*L_inv;
312 }
313 
314 typedef SquareMatrix<float, 3> Matrix3f;
315 
316 } // namespace matrix
317 
318 /* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
matrix::Vector
Definition: Matrix.hpp:25
+
matrix::cholesky
SquareMatrix< Type, M > cholesky(const SquareMatrix< Type, M > &A)
Definition: SquareMatrix.hpp:269
+
matrix::choleskyInv
SquareMatrix< Type, M > choleskyInv(const SquareMatrix< Type, M > &A)
Definition: SquareMatrix.hpp:308
+
matrix::SquareMatrix
Definition: SquareMatrix.hpp:24
+
matrix
Definition: helper_functions.hpp:5
+
matrix::inv
bool inv(const SquareMatrix< Type, M > &A, SquareMatrix< Type, M > &inv)
Definition: SquareMatrix.hpp:125
+
matrix::Matrix
Definition: Matrix.hpp:28
+
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+Classes | +Typedefs
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+
Vector2.hpp File Reference
+
+
+
#include "math.hpp"
+
+Include dependency graph for Vector2.hpp:
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+This graph shows which files directly or indirectly include this file:
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Go to the source code of this file.

+ + + + + + +

+Classes

class  matrix::Vector< Type, M >
 
class  matrix::Vector2< Type >
 
+ + + +

+Typedefs

+typedef Vector2< float > matrix::Vector2f
 
+

Detailed Description

+

2D vector class.

+
Author
James Goppert james.nosp@m..gop.nosp@m.pert@.nosp@m.gmai.nosp@m.l.com
+
+ +
+Generated by   +doxygen + 1.8.11 +
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Vector2.hpp
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1 
9 #pragma once
10 
11 #include "math.hpp"
12 
13 namespace matrix
14 {
15 
16 template <typename Type, size_t M>
17 class Vector;
18 
19 template<typename Type>
20 class Vector2 : public Vector<Type, 2>
21 {
22 public:
23 
24  typedef Matrix<Type, 2, 1> Matrix21;
25 
26  Vector2() :
27  Vector<Type, 2>()
28  {
29  }
30 
31  Vector2(const Matrix21 & other) :
32  Vector<Type, 2>(other)
33  {
34  }
35 
36  Vector2(const Type *data_) :
37  Vector<Type, 2>(data_)
38  {
39  }
40 
41  Vector2(Type x, Type y) : Vector<Type, 2>()
42  {
43  Vector2 &v(*this);
44  v(0) = x;
45  v(1) = y;
46  }
47 
48  Type cross(const Matrix21 & b) const {
49  const Vector2 &a(*this);
50  return a(0)*b(1, 0) - a(1)*b(0, 0);
51  }
52 
53  Type operator%(const Matrix21 & b) const {
54  return (*this).cross(b);
55  }
56 
57 };
58 
59 typedef Vector2<float> Vector2f;
60 
61 } // namespace matrix
62 
63 /* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
matrix::Vector
Definition: Matrix.hpp:25
+
matrix::Vector2
Definition: Vector2.hpp:20
+
matrix
Definition: helper_functions.hpp:5
+
matrix::Matrix
Definition: Matrix.hpp:28
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Vector3.hpp File Reference
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#include "math.hpp"
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+Classes

class  matrix::Matrix< Type, M, N >
 
class  matrix::Vector< Type, M >
 
class  matrix::Dcm< Type >
 
class  matrix::Vector3< Type >
 
+ + + +

+Typedefs

+typedef Vector3< float > matrix::Vector3f
 
+

Detailed Description

+

3D vector class.

+
Author
James Goppert james.nosp@m..gop.nosp@m.pert@.nosp@m.gmai.nosp@m.l.com
+
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Vector3.hpp
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1 
9 #pragma once
10 
11 #include "math.hpp"
12 
13 namespace matrix
14 {
15 
16 template <typename Type, size_t M, size_t N>
17 class Matrix;
18 
19 template <typename Type, size_t M>
20 class Vector;
21 
22 template<typename Type>
23 class Dcm;
24 
25 template<typename Type>
26 class Vector3 : public Vector<Type, 3>
27 {
28 public:
29 
30  typedef Matrix<Type, 3, 1> Matrix31;
31 
32  Vector3() :
33  Vector<Type, 3>()
34  {
35  }
36 
37  Vector3(const Matrix31 & other) :
38  Vector<Type, 3>(other)
39  {
40  }
41 
42  Vector3(const Type *data_) :
43  Vector<Type, 3>(data_)
44  {
45  }
46 
47  Vector3(Type x, Type y, Type z) : Vector<Type, 3>()
48  {
49  Vector3 &v(*this);
50  v(0) = x;
51  v(1) = y;
52  v(2) = z;
53  }
54 
55  Vector3 cross(const Matrix31 & b) const {
56  const Vector3 &a(*this);
57  Vector3 c;
58  c(0) = a(1)*b(2,0) - a(2)*b(1,0);
59  c(1) = -a(0)*b(2,0) + a(2)*b(0,0);
60  c(2) = a(0)*b(1,0) - a(1)*b(0,0);
61  return c;
62  }
63 
68  inline Vector3 operator+(Vector3 other) const
69  {
70  return Matrix31::operator+(other);
71  }
72 
73  inline Vector3 operator-(Vector3 other) const
74  {
75  return Matrix31::operator-(other);
76  }
77 
78  inline Vector3 operator-() const
79  {
80  return Matrix31::operator-();
81  }
82 
83  inline Vector3 operator*(Type scalar) const
84  {
85  return Matrix31::operator*(scalar);
86  }
87 
88  inline Type operator*(Vector3 b) const
89  {
90  return Vector<Type, 3>::operator*(b);
91  }
92 
93  inline Vector3 operator%(const Matrix31 & b) const {
94  return (*this).cross(b);
95  }
96 
100  inline Vector3 unit() const {
101  return Vector3(Vector<Type, 3>::unit());
102  }
103 
104  inline Vector3 normalized() const {
105  return unit();
106  }
107 
108 
109  Dcm<Type> hat() const { // inverse to Dcm.vee() operation
110  const Vector3 &v(*this);
111  Dcm<Type> A;
112  A(0,0) = 0;
113  A(0,1) = -v(2);
114  A(0,2) = v(1);
115  A(1,0) = v(2);
116  A(1,1) = 0;
117  A(1,2) = -v(0);
118  A(2,0) = -v(1);
119  A(2,1) = v(0);
120  A(2,2) = 0;
121  return A;
122  }
123 
124 };
125 
126 typedef Vector3<float> Vector3f;
127 
128 } // namespace matrix
129 
130 /* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
matrix::Vector
Definition: Matrix.hpp:25
+
matrix::Vector3::operator+
Vector3 operator+(Vector3 other) const
Definition: Vector3.hpp:68
+
matrix::Dcm
Definition: Vector3.hpp:23
+
matrix::Vector3
Definition: Vector3.hpp:26
+
matrix
Definition: helper_functions.hpp:5
+
matrix::Matrix
Definition: Matrix.hpp:28
+
matrix::Matrix::operator*
Matrix< Type, M, P > operator*(const Matrix< Type, N, P > &other) const
Definition: Matrix.hpp:94
+
matrix::Vector3::unit
Vector3 unit() const
Definition: Vector3.hpp:100
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Vector.hpp File Reference
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#include "math.hpp"
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+ + + + + + +

+Classes

class  matrix::Matrix< Type, M, N >
 
class  matrix::Vector< Type, M >
 
+

Detailed Description

+

Vector class.

+
Author
James Goppert james.nosp@m..gop.nosp@m.pert@.nosp@m.gmai.nosp@m.l.com
+
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+Generated by   +doxygen + 1.8.11 +
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+
+ + + + + + +
+
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Vector.hpp
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+Go to the documentation of this file.
1 
9 #pragma once
10 
11 #include "math.hpp"
12 
13 namespace matrix
14 {
15 
16 template <typename Type, size_t M, size_t N>
17 class Matrix;
18 
19 template<typename Type, size_t M>
20 class Vector : public Matrix<Type, M, 1>
21 {
22 public:
23  typedef Matrix<Type, M, 1> MatrixM1;
24 
25  Vector() : MatrixM1()
26  {
27  }
28 
29  Vector(const MatrixM1 & other) :
30  MatrixM1(other)
31  {
32  }
33 
34  Vector(const Type *data_) :
35  MatrixM1(data_)
36  {
37  }
38 
39  inline Type operator()(size_t i) const
40  {
41  const MatrixM1 &v = *this;
42  return v(i, 0);
43  }
44 
45  inline Type &operator()(size_t i)
46  {
47  MatrixM1 &v = *this;
48  return v(i, 0);
49  }
50 
51  Type dot(const MatrixM1 & b) const {
52  const Vector &a(*this);
53  Type r = 0;
54  for (size_t i = 0; i<M; i++) {
55  r += a(i)*b(i,0);
56  }
57  return r;
58  }
59 
60  inline Type operator*(const MatrixM1 & b) const {
61  const Vector &a(*this);
62  return a.dot(b);
63  }
64 
65  inline Vector operator*(float b) const {
66  return Vector(MatrixM1::operator*(b));
67  }
68 
69  Type norm() const {
70  const Vector &a(*this);
71  return Type(sqrt(a.dot(a)));
72  }
73 
74  inline Type length() const {
75  return norm();
76  }
77 
78  inline void normalize() {
79  (*this) /= norm();
80  }
81 
82  Vector unit() const {
83  return (*this) / norm();
84  }
85 
86  inline Vector normalized() const {
87  return unit();
88  }
89 
90  Vector pow(Type v) const {
91  const Vector &a(*this);
92  Vector r;
93  for (size_t i = 0; i<M; i++) {
94  r(i) = Type(::pow(a(i), v));
95  }
96  return r;
97  }
98 };
99 
100 } // namespace matrix
101 
102 /* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
matrix
Definition: helper_functions.hpp:5
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Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
YDLIDAR SDK -  V1.3.3 +  V1.3.6
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diff --git a/sdk/doc/html/class_c_yd_lidar-members.html b/sdk/doc/html/class_c_yd_lidar-members.html index cd941bd..d5b4129 100644 --- a/sdk/doc/html/class_c_yd_lidar-members.html +++ b/sdk/doc/html/class_c_yd_lidar-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/class_c_yd_lidar.html b/sdk/doc/html/class_c_yd_lidar.html index 2b846d1..78787e1 100644 --- a/sdk/doc/html/class_c_yd_lidar.html +++ b/sdk/doc/html/class_c_yd_lidar.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -176,8 +176,8 @@

Member Function Documentation

The documentation for this class was generated from the following files:
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  • /home/yang/tmp/sdk/src/CYdLidar.cpp
    • +
  • include/CYdLidar.h
    • +
  • src/CYdLidar.cpp
diff --git a/sdk/doc/html/class_event-members.html b/sdk/doc/html/class_event-members.html index 620d098..35cd202 100644 --- a/sdk/doc/html/class_event-members.html +++ b/sdk/doc/html/class_event-members.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/class_event.html b/sdk/doc/html/class_event.html index af78b0d..b4a8be4 100644 --- a/sdk/doc/html/class_event.html +++ b/sdk/doc/html/class_event.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -138,7 +138,7 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
 
The documentation for this class was generated from the following file: diff --git a/sdk/doc/html/class_locker-members.html b/sdk/doc/html/class_locker-members.html index 7ce88fb..9e819e6 100644 --- a/sdk/doc/html/class_locker-members.html +++ b/sdk/doc/html/class_locker-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/class_locker.html b/sdk/doc/html/class_locker.html index 3ad8167..040aa0a 100644 --- a/sdk/doc/html/class_locker.html +++ b/sdk/doc/html/class_locker.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -132,7 +132,7 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
 
The documentation for this class was generated from the following file: diff --git a/sdk/doc/html/class_scoped_locker-members.html b/sdk/doc/html/class_scoped_locker-members.html index d11e842..bd23b57 100644 --- a/sdk/doc/html/class_scoped_locker-members.html +++ b/sdk/doc/html/class_scoped_locker-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/class_scoped_locker.html b/sdk/doc/html/class_scoped_locker.html index 56b301b..209720f 100644 --- a/sdk/doc/html/class_scoped_locker.html +++ b/sdk/doc/html/class_scoped_locker.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -118,7 +118,7 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
 
The documentation for this class was generated from the following file: diff --git a/sdk/doc/html/class_thread-members.html b/sdk/doc/html/class_thread-members.html index 710aa42..235da97 100644 --- a/sdk/doc/html/class_thread-members.html +++ b/sdk/doc/html/class_thread-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/class_thread.html b/sdk/doc/html/class_thread.html index 470fb5c..2bf7dad 100644 --- a/sdk/doc/html/class_thread.html +++ b/sdk/doc/html/class_thread.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -147,7 +147,7 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
 
The documentation for this class was generated from the following file: diff --git a/sdk/doc/html/classes.html b/sdk/doc/html/classes.html index fea4a72..b5aa8c0 100644 --- a/sdk/doc/html/classes.html +++ b/sdk/doc/html/classes.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ @@ -89,38 +89,50 @@
Class Index
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diff --git a/sdk/doc/html/classline__feature_1_1_line_feature-members.html b/sdk/doc/html/classline__feature_1_1_line_feature-members.html new file mode 100644 index 0000000..57f7813 --- /dev/null +++ b/sdk/doc/html/classline__feature_1_1_line_feature-members.html @@ -0,0 +1,117 @@ + + + + + + +YDLIDAR SDK: Member List + + + + + + + + + + +
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line_feature::LineFeature Member List
+
+
+ +

This is the complete list of members for line_feature::LineFeature, including all inherited members.

+ + + + + + + + + + + +
extractLines(std::vector< gline > &) (defined in line_feature::LineFeature)line_feature::LineFeature
LineFeature() (defined in line_feature::LineFeature)line_feature::LineFeature
set_least_threshold(double) (defined in line_feature::LineFeature)line_feature::LineFeature
set_max_point_distance(double) (defined in line_feature::LineFeature)line_feature::LineFeature
set_min_line_length(double) (defined in line_feature::LineFeature)line_feature::LineFeature
set_min_line_points(unsigned int) (defined in line_feature::LineFeature)line_feature::LineFeature
set_min_predict_distance(double) (defined in line_feature::LineFeature)line_feature::LineFeature
set_seed_line_points(unsigned int) (defined in line_feature::LineFeature)line_feature::LineFeature
setCachedRangeData(const std::vector< double > &, const std::vector< unsigned int > &, const RangeData &) (defined in line_feature::LineFeature)line_feature::LineFeature
~LineFeature() (defined in line_feature::LineFeature)line_feature::LineFeature
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+void setCachedRangeData (const std::vector< double > &, const std::vector< unsigned int > &, const RangeData &)
 
+void extractLines (std::vector< gline > &)
 
+void set_least_threshold (double)
 
+void set_min_line_length (double)
 
+void set_max_point_distance (double)
 
+void set_min_predict_distance (double)
 
+void set_min_line_points (unsigned int)
 
+void set_seed_line_points (unsigned int)
 
+
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matrix::Matrix< Type, M, N > Member List
+
+
+ +

This is the complete list of members for matrix::Matrix< Type, M, N >, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
_data (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >
abs() const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
data()matrix::Matrix< Type, M, N >inline
data() const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
edivide(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
emult(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
identity() (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
Matrix() (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
Matrix(const Type data_[][N]) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
Matrix(const Type *data_) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
Matrix(const Matrix &other) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
max() const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
min() const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator()(size_t i, size_t j) const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator()(size_t i, size_t j) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator*(const Matrix< Type, N, P > &other) const matrix::Matrix< Type, M, N >inline
operator*(Type scalar) const matrix::Matrix< Type, M, N >inline
operator*=(const Matrix< Type, N, P > &other) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator*=(Type scalar) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator+(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator+(Type scalar) const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator+=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator+=(Type scalar) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator-(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator-() const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator-(Type scalar) const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator-=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator-=(Type scalar) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator/(Type scalar) const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator/=(Type scalar) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
operator=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
print() const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
set(const Matrix< Type, P, Q > &m, size_t x0, size_t y0) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
setAll(Type val) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
setCol(size_t j, const Matrix< Type, M, 1 > &col) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
setIdentity() (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
setOne() (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
setRow(size_t i, const Matrix< Type, N, 1 > &row) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
setZero() (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
slice(size_t x0, size_t y0) const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
swapCols(size_t a, size_t b) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
swapRows(size_t a, size_t b) (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
T() const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
transpose() const (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
write_string(char *buf, size_t n) const matrix::Matrix< Type, M, N >inline
zero() (defined in matrix::Matrix< Type, M, N >)matrix::Matrix< Type, M, N >inline
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matrix::Matrix< Type, M, N > Class Template Reference
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+Inheritance diagram for matrix::Matrix< Type, M, N >:
+
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Inheritance graph
+ + + +
[legend]
+
+Collaboration diagram for matrix::Matrix< Type, M, N >:
+
+
Collaboration graph
+
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ Matrix (const Type data_[][N])
 
+ Matrix (const Type *data_)
 
+ Matrix (const Matrix &other)
 
Type * data ()
 
+const Type * data () const
 
+Type operator() (size_t i, size_t j) const
 
+Type & operator() (size_t i, size_t j)
 
+Matrix< Type, M, N > & operator= (const Matrix< Type, M, N > &other)
 
template<size_t P>
Matrix< Type, M, P > operator* (const Matrix< Type, N, P > &other) const
 
+Matrix< Type, M, N > emult (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > edivide (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator+ (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator- (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator- () const
 
+void operator+= (const Matrix< Type, M, N > &other)
 
+void operator-= (const Matrix< Type, M, N > &other)
 
+template<size_t P>
void operator*= (const Matrix< Type, N, P > &other)
 
Matrix< Type, M, N > operator* (Type scalar) const
 
+Matrix< Type, M, N > operator/ (Type scalar) const
 
+Matrix< Type, M, N > operator+ (Type scalar) const
 
+Matrix< Type, M, N > operator- (Type scalar) const
 
+void operator*= (Type scalar)
 
+void operator/= (Type scalar)
 
+void operator+= (Type scalar)
 
+void operator-= (Type scalar)
 
void write_string (char *buf, size_t n) const
 
+void print () const
 
+Matrix< Type, N, M > transpose () const
 
+Matrix< Type, N, M > T () const
 
+template<size_t P, size_t Q>
Matrix< Type, P, Q > slice (size_t x0, size_t y0) const
 
+template<size_t P, size_t Q>
void set (const Matrix< Type, P, Q > &m, size_t x0, size_t y0)
 
+void setRow (size_t i, const Matrix< Type, N, 1 > &row)
 
+void setCol (size_t j, const Matrix< Type, M, 1 > &col)
 
+void setZero ()
 
+void zero ()
 
+void setAll (Type val)
 
+void setOne ()
 
+void setIdentity ()
 
+void identity ()
 
+void swapRows (size_t a, size_t b)
 
+void swapCols (size_t a, size_t b)
 
+Matrix< Type, M, N > abs () const
 
+Type max () const
 
+Type min () const
 
+ + + +

+Public Attributes

+Type _data [M][N]
 
+

Member Function Documentation

+ +
+
+
+template<typename Type, size_t M, size_t N>
+ + + + + +
+ + + + + + + +
Type* matrix::Matrix< Type, M, N >::data ()
+ 		+inline
+
+

Accessors/ Assignment etc.

+ +
+
+ +
+
+
+template<typename Type, size_t M, size_t N>
+
+template<size_t P>
+ + + + + +
+ + + + + + + + +
Matrix<Type, M, P> matrix::Matrix< Type, M, N >::operator* (const Matrix< Type, N, P > & other) const
+ 		+inline
+
+

Matrix Operations

+ +
+
+ +
+
+
+template<typename Type, size_t M, size_t N>
+ + + + + +
+ + + + + + + + +
Matrix<Type, M, N> matrix::Matrix< Type, M, N >::operator* (Type scalar) const
+ 		+inline
+
+

Scalar Operations

+ +
+
+ +
+
+
+template<typename Type, size_t M, size_t N>
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void matrix::Matrix< Type, M, N >::write_string (char * buf,
size_t n 
) const
+ 		+inline
+
+

Misc. Functions

+ +
+
+
The documentation for this class was generated from the following file: +
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+Generated by   +doxygen + 1.8.11 +
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YDLIDAR SDK +  V1.3.6 +
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matrix::SquareMatrix< Type, M > Member List
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+ +

This is the complete list of members for matrix::SquareMatrix< Type, M >, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
_data (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >
abs() const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
data()matrix::Matrix< Type, M, M >inline
data() const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
diag() const (defined in matrix::SquareMatrix< Type, M >)matrix::SquareMatrix< Type, M >inline
edivide(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
emult(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
I() const (defined in matrix::SquareMatrix< Type, M >)matrix::SquareMatrix< Type, M >inline
I(SquareMatrix< Type, M > &i) const (defined in matrix::SquareMatrix< Type, M >)matrix::SquareMatrix< Type, M >inline
identity() (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
Matrix() (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
Matrix(const Type data_[][N]) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
Matrix(const Type *data_) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
Matrix(const Matrix &other) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
max() const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
min() const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator()(size_t i, size_t j) const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator()(size_t i, size_t j) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator*(const Matrix< Type, N, P > &other) constmatrix::Matrix< Type, M, M >inline
operator*(Type scalar) constmatrix::Matrix< Type, M, M >inline
operator*=(const Matrix< Type, N, P > &other) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator*=(Type scalar) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator+(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator+(Type scalar) const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator+=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator+=(Type scalar) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator-(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator-() const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator-(Type scalar) const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator-=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator-=(Type scalar) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator/(Type scalar) const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator/=(Type scalar) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
operator=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
print() const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
set(const Matrix< Type, P, Q > &m, size_t x0, size_t y0) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
setAll(Type val) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
setCol(size_t j, const Matrix< Type, M, 1 > &col) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
setIdentity() (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
setOne() (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
setRow(size_t i, const Matrix< Type, N, 1 > &row) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
setZero() (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
slice(size_t x0, size_t y0) const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
SquareMatrix() (defined in matrix::SquareMatrix< Type, M >)matrix::SquareMatrix< Type, M >inline
SquareMatrix(const Type *data_) (defined in matrix::SquareMatrix< Type, M >)matrix::SquareMatrix< Type, M >inline
SquareMatrix(const Matrix< Type, M, M > &other) (defined in matrix::SquareMatrix< Type, M >)matrix::SquareMatrix< Type, M >inline
swapCols(size_t a, size_t b) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
swapRows(size_t a, size_t b) (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
T() const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
trace() const (defined in matrix::SquareMatrix< Type, M >)matrix::SquareMatrix< Type, M >inline
transpose() const (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
write_string(char *buf, size_t n) constmatrix::Matrix< Type, M, M >inline
zero() (defined in matrix::Matrix< Type, M, M >)matrix::Matrix< Type, M, M >inline
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+ + diff --git a/sdk/doc/html/classmatrix_1_1_square_matrix.html b/sdk/doc/html/classmatrix_1_1_square_matrix.html new file mode 100644 index 0000000..4d24653 --- /dev/null +++ b/sdk/doc/html/classmatrix_1_1_square_matrix.html @@ -0,0 +1,284 @@ + + + + + + +YDLIDAR SDK: matrix::SquareMatrix< Type, M > Class Template Reference + + + + + + + + + + +
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YDLIDAR SDK +  V1.3.6 +
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+Public Member Functions | +List of all members
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matrix::SquareMatrix< Type, M > Class Template Reference
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+Inheritance diagram for matrix::SquareMatrix< Type, M >:
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Inheritance graph
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[legend]
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+Collaboration diagram for matrix::SquareMatrix< Type, M >:
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Collaboration graph
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[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ SquareMatrix (const Type *data_)
 
+ SquareMatrix (const Matrix< Type, M, M > &other)
 
+SquareMatrix< Type, M > I () const
 
+bool I (SquareMatrix< Type, M > &i) const
 
+Vector< Type, M > diag () const
 
+Type trace () const
 
- Public Member Functions inherited from matrix::Matrix< Type, M, M >
+ Matrix (const Type data_[][N])
 
+ Matrix (const Type *data_)
 
+ Matrix (const Matrix &other)
 
Type * data ()
 
+const Type * data () const
 
+Type operator() (size_t i, size_t j) const
 
+Type & operator() (size_t i, size_t j)
 
+Matrix< Type, M, N > & operator= (const Matrix< Type, M, N > &other)
 
Matrix< Type, M, P > operator* (const Matrix< Type, N, P > &other) const
 
Matrix< Type, M, N > operator* (Type scalar) const
 
+Matrix< Type, M, N > emult (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > edivide (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator+ (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator+ (Type scalar) const
 
+Matrix< Type, M, N > operator- (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator- () const
 
+Matrix< Type, M, N > operator- (Type scalar) const
 
+void operator+= (const Matrix< Type, M, N > &other)
 
+void operator+= (Type scalar)
 
+void operator-= (const Matrix< Type, M, N > &other)
 
+void operator-= (Type scalar)
 
+void operator*= (const Matrix< Type, N, P > &other)
 
+void operator*= (Type scalar)
 
+Matrix< Type, M, N > operator/ (Type scalar) const
 
+void operator/= (Type scalar)
 
void write_string (char *buf, size_t n) const
 
+void print () const
 
+Matrix< Type, N, M > transpose () const
 
+Matrix< Type, N, M > T () const
 
+Matrix< Type, P, Q > slice (size_t x0, size_t y0) const
 
+void set (const Matrix< Type, P, Q > &m, size_t x0, size_t y0)
 
+void setRow (size_t i, const Matrix< Type, N, 1 > &row)
 
+void setCol (size_t j, const Matrix< Type, M, 1 > &col)
 
+void setZero ()
 
+void zero ()
 
+void setAll (Type val)
 
+void setOne ()
 
+void setIdentity ()
 
+void identity ()
 
+void swapRows (size_t a, size_t b)
 
+void swapCols (size_t a, size_t b)
 
+Matrix< Type, M, N > abs () const
 
+Type max () const
 
+Type min () const
 
+ + + + +

+Additional Inherited Members

- Public Attributes inherited from matrix::Matrix< Type, M, M >
+Type _data [M][N]
 
+
The documentation for this class was generated from the following file: +
+ +
+Generated by   +doxygen + 1.8.11 +
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+
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matrix::Vector< Type, M > Member List
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This is the complete list of members for matrix::Vector< Type, M >, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
_data (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >
abs() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
data()matrix::Matrix< Type, M, 1 >inline
data() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
dot(const MatrixM1 &b) const (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
edivide(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
emult(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
identity() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
length() const (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
Matrix() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix(const Type data_[][N]) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix(const Type *data_) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix(const Matrix &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
MatrixM1 typedef (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >
max() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
min() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
norm() const (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
normalize() (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
normalized() const (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
operator()(size_t i) const (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
operator()(size_t i) (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
operator()(size_t i, size_t j) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator()(size_t i, size_t j) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator*(const MatrixM1 &b) const (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
operator*(float b) const (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
Matrix< Type, M, 1 >::operator*(const Matrix< Type, N, P > &other) constmatrix::Matrix< Type, M, 1 >inline
Matrix< Type, M, 1 >::operator*(Type scalar) constmatrix::Matrix< Type, M, 1 >inline
operator*=(const Matrix< Type, N, P > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator*=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+(Type scalar) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-(Type scalar) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator/(Type scalar) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator/=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
pow(Type v) const (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
print() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
set(const Matrix< Type, P, Q > &m, size_t x0, size_t y0) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setAll(Type val) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setCol(size_t j, const Matrix< Type, M, 1 > &col) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setIdentity() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setOne() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setRow(size_t i, const Matrix< Type, N, 1 > &row) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setZero() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
slice(size_t x0, size_t y0) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
swapCols(size_t a, size_t b) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
swapRows(size_t a, size_t b) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
T() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
transpose() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
unit() const (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
Vector() (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
Vector(const MatrixM1 &other) (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
Vector(const Type *data_) (defined in matrix::Vector< Type, M >)matrix::Vector< Type, M >inline
write_string(char *buf, size_t n) constmatrix::Matrix< Type, M, 1 >inline
zero() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
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+Public Types | +Public Member Functions | +List of all members
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matrix::Vector< Type, M > Class Template Reference
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+Inheritance diagram for matrix::Vector< Type, M >:
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Inheritance graph
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+Collaboration diagram for matrix::Vector< Type, M >:
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+Public Types

+typedef Matrix< Type, M, 1 > MatrixM1
 
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+Public Member Functions

+ Vector (const MatrixM1 &other)
 
+ Vector (const Type *data_)
 
+Type operator() (size_t i) const
 
+Type & operator() (size_t i)
 
+Type dot (const MatrixM1 &b) const
 
+Type operator* (const MatrixM1 &b) const
 
+Vector operator* (float b) const
 
+Type norm () const
 
+Type length () const
 
+void normalize ()
 
+Vector unit () const
 
+Vector normalized () const
 
+Vector pow (Type v) const
 
- Public Member Functions inherited from matrix::Matrix< Type, M, 1 >
+ Matrix (const Type data_[][N])
 
+ Matrix (const Type *data_)
 
+ Matrix (const Matrix &other)
 
Type * data ()
 
+const Type * data () const
 
+Type operator() (size_t i, size_t j) const
 
+Type & operator() (size_t i, size_t j)
 
+Matrix< Type, M, N > & operator= (const Matrix< Type, M, N > &other)
 
Matrix< Type, M, P > operator* (const Matrix< Type, N, P > &other) const
 
Matrix< Type, M, N > operator* (Type scalar) const
 
+Matrix< Type, M, N > emult (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > edivide (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator+ (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator+ (Type scalar) const
 
+Matrix< Type, M, N > operator- (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator- () const
 
+Matrix< Type, M, N > operator- (Type scalar) const
 
+void operator+= (const Matrix< Type, M, N > &other)
 
+void operator+= (Type scalar)
 
+void operator-= (const Matrix< Type, M, N > &other)
 
+void operator-= (Type scalar)
 
+void operator*= (const Matrix< Type, N, P > &other)
 
+void operator*= (Type scalar)
 
+Matrix< Type, M, N > operator/ (Type scalar) const
 
+void operator/= (Type scalar)
 
void write_string (char *buf, size_t n) const
 
+void print () const
 
+Matrix< Type, N, M > transpose () const
 
+Matrix< Type, N, M > T () const
 
+Matrix< Type, P, Q > slice (size_t x0, size_t y0) const
 
+void set (const Matrix< Type, P, Q > &m, size_t x0, size_t y0)
 
+void setRow (size_t i, const Matrix< Type, N, 1 > &row)
 
+void setCol (size_t j, const Matrix< Type, M, 1 > &col)
 
+void setZero ()
 
+void zero ()
 
+void setAll (Type val)
 
+void setOne ()
 
+void setIdentity ()
 
+void identity ()
 
+void swapRows (size_t a, size_t b)
 
+void swapCols (size_t a, size_t b)
 
+Matrix< Type, M, N > abs () const
 
+Type max () const
 
+Type min () const
 
+ + + + +

+Additional Inherited Members

- Public Attributes inherited from matrix::Matrix< Type, M, 1 >
+Type _data [M][N]
 
+
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matrix::Vector2< Type > Member List
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+ +

This is the complete list of members for matrix::Vector2< Type >, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
_data (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >
abs() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
cross(const Matrix21 &b) const (defined in matrix::Vector2< Type >)matrix::Vector2< Type >inline
data()matrix::Matrix< Type, M, 1 >inline
data() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
dot(const MatrixM1 &b) const (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
edivide(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
emult(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
identity() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
length() const (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
Matrix() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix(const Type data_[][N]) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix(const Type *data_) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix(const Matrix &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix21 typedef (defined in matrix::Vector2< Type >)matrix::Vector2< Type >
MatrixM1 typedef (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >
max() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
min() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
norm() const (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
normalize() (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
normalized() const (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
operator%(const Matrix21 &b) const (defined in matrix::Vector2< Type >)matrix::Vector2< Type >inline
operator()(size_t i) const (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
operator()(size_t i) (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
operator()(size_t i, size_t j) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator()(size_t i, size_t j) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator*(const MatrixM1 &b) const (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
operator*(float b) const (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
Matrix< Type, M, 1 >::operator*(const Matrix< Type, N, P > &other) constmatrix::Matrix< Type, M, 1 >inline
Matrix< Type, M, 1 >::operator*(Type scalar) constmatrix::Matrix< Type, M, 1 >inline
operator*=(const Matrix< Type, N, P > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator*=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+(Type scalar) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-(Type scalar) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator/(Type scalar) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator/=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
pow(Type v) const (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
print() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
set(const Matrix< Type, P, Q > &m, size_t x0, size_t y0) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setAll(Type val) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setCol(size_t j, const Matrix< Type, M, 1 > &col) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setIdentity() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setOne() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setRow(size_t i, const Matrix< Type, N, 1 > &row) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setZero() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
slice(size_t x0, size_t y0) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
swapCols(size_t a, size_t b) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
swapRows(size_t a, size_t b) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
T() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
transpose() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
unit() const (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
Vector() (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
Vector(const MatrixM1 &other) (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
Vector(const Type *data_) (defined in matrix::Vector< Type, 2 >)matrix::Vector< Type, 2 >inline
Vector2() (defined in matrix::Vector2< Type >)matrix::Vector2< Type >inline
Vector2(const Matrix21 &other) (defined in matrix::Vector2< Type >)matrix::Vector2< Type >inline
Vector2(const Type *data_) (defined in matrix::Vector2< Type >)matrix::Vector2< Type >inline
Vector2(Type x, Type y) (defined in matrix::Vector2< Type >)matrix::Vector2< Type >inline
write_string(char *buf, size_t n) constmatrix::Matrix< Type, M, 1 >inline
zero() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
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+Generated by   +doxygen + 1.8.11 +
+ + diff --git a/sdk/doc/html/classmatrix_1_1_vector2.html b/sdk/doc/html/classmatrix_1_1_vector2.html new file mode 100644 index 0000000..8224152 --- /dev/null +++ b/sdk/doc/html/classmatrix_1_1_vector2.html @@ -0,0 +1,334 @@ + + + + + + +YDLIDAR SDK: matrix::Vector2< Type > Class Template Reference + + + + + + + + + + +
+
+ + + + + + +
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YDLIDAR SDK +  V1.3.6 +
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+ +
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+Public Types | +Public Member Functions | +List of all members
+
+
matrix::Vector2< Type > Class Template Reference
+
+
+
+Inheritance diagram for matrix::Vector2< Type >:
+
+
Inheritance graph
+ + + + +
[legend]
+
+Collaboration diagram for matrix::Vector2< Type >:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + +

+Public Types

+typedef Matrix< Type, 2, 1 > Matrix21
 
- Public Types inherited from matrix::Vector< Type, 2 >
+typedef Matrix< Type, M, 1 > MatrixM1
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ Vector2 (const Matrix21 &other)
 
+ Vector2 (const Type *data_)
 
+ Vector2 (Type x, Type y)
 
+Type cross (const Matrix21 &b) const
 
+Type operator% (const Matrix21 &b) const
 
- Public Member Functions inherited from matrix::Vector< Type, 2 >
+ Vector (const MatrixM1 &other)
 
+ Vector (const Type *data_)
 
+Type operator() (size_t i) const
 
+Type & operator() (size_t i)
 
+Type dot (const MatrixM1 &b) const
 
+Type operator* (const MatrixM1 &b) const
 
+Vector operator* (float b) const
 
+Type norm () const
 
+Type length () const
 
+void normalize ()
 
+Vector unit () const
 
+Vector normalized () const
 
+Vector pow (Type v) const
 
- Public Member Functions inherited from matrix::Matrix< Type, M, 1 >
+ Matrix (const Type data_[][N])
 
+ Matrix (const Type *data_)
 
+ Matrix (const Matrix &other)
 
Type * data ()
 
+const Type * data () const
 
+Type operator() (size_t i, size_t j) const
 
+Type & operator() (size_t i, size_t j)
 
+Matrix< Type, M, N > & operator= (const Matrix< Type, M, N > &other)
 
Matrix< Type, M, P > operator* (const Matrix< Type, N, P > &other) const
 
Matrix< Type, M, N > operator* (Type scalar) const
 
+Matrix< Type, M, N > emult (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > edivide (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator+ (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator+ (Type scalar) const
 
+Matrix< Type, M, N > operator- (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator- () const
 
+Matrix< Type, M, N > operator- (Type scalar) const
 
+void operator+= (const Matrix< Type, M, N > &other)
 
+void operator+= (Type scalar)
 
+void operator-= (const Matrix< Type, M, N > &other)
 
+void operator-= (Type scalar)
 
+void operator*= (const Matrix< Type, N, P > &other)
 
+void operator*= (Type scalar)
 
+Matrix< Type, M, N > operator/ (Type scalar) const
 
+void operator/= (Type scalar)
 
void write_string (char *buf, size_t n) const
 
+void print () const
 
+Matrix< Type, N, M > transpose () const
 
+Matrix< Type, N, M > T () const
 
+Matrix< Type, P, Q > slice (size_t x0, size_t y0) const
 
+void set (const Matrix< Type, P, Q > &m, size_t x0, size_t y0)
 
+void setRow (size_t i, const Matrix< Type, N, 1 > &row)
 
+void setCol (size_t j, const Matrix< Type, M, 1 > &col)
 
+void setZero ()
 
+void zero ()
 
+void setAll (Type val)
 
+void setOne ()
 
+void setIdentity ()
 
+void identity ()
 
+void swapRows (size_t a, size_t b)
 
+void swapCols (size_t a, size_t b)
 
+Matrix< Type, M, N > abs () const
 
+Type max () const
 
+Type min () const
 
+ + + + +

+Additional Inherited Members

- Public Attributes inherited from matrix::Matrix< Type, M, 1 >
+Type _data [M][N]
 
+
The documentation for this class was generated from the following file: +
+ +
+Generated by   +doxygen + 1.8.11 +
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matrix::Vector3< Type > Member List
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This is the complete list of members for matrix::Vector3< Type >, including all inherited members.

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_data (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >
abs() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
cross(const Matrix31 &b) const (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
data()matrix::Matrix< Type, M, 1 >inline
data() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
dot(const MatrixM1 &b) const (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
edivide(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
emult(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
hat() const (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
identity() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
length() const (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
Matrix() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix(const Type data_[][N]) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix(const Type *data_) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix(const Matrix &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
Matrix31 typedef (defined in matrix::Vector3< Type >)matrix::Vector3< Type >
MatrixM1 typedef (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >
max() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
min() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
norm() const (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
normalize() (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
normalized() const (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
operator%(const Matrix31 &b) const (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
operator()(size_t i) const (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
operator()(size_t i) (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
operator()(size_t i, size_t j) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator()(size_t i, size_t j) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator*(Type scalar) const (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
operator*(Vector3 b) const (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
operator*(const MatrixM1 &b) const (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
operator*(float b) const (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
Matrix< Type, M, 1 >::operator*(const Matrix< Type, N, P > &other) constmatrix::Matrix< Type, M, 1 >inline
operator*=(const Matrix< Type, N, P > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator*=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+(Vector3 other) const matrix::Vector3< Type >inline
operator+(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+(Type scalar) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator+=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-(Vector3 other) const (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
operator-() const (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
operator-(const Matrix< Type, M, N > &other) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-(Type scalar) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator-=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator/(Type scalar) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator/=(Type scalar) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
operator=(const Matrix< Type, M, N > &other) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
pow(Type v) const (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
print() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
set(const Matrix< Type, P, Q > &m, size_t x0, size_t y0) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setAll(Type val) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setCol(size_t j, const Matrix< Type, M, 1 > &col) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setIdentity() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setOne() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setRow(size_t i, const Matrix< Type, N, 1 > &row) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
setZero() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
slice(size_t x0, size_t y0) const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
swapCols(size_t a, size_t b) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
swapRows(size_t a, size_t b) (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
T() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
transpose() const (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
unit() const matrix::Vector3< Type >inline
Vector() (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
Vector(const MatrixM1 &other) (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
Vector(const Type *data_) (defined in matrix::Vector< Type, 3 >)matrix::Vector< Type, 3 >inline
Vector3() (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
Vector3(const Matrix31 &other) (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
Vector3(const Type *data_) (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
Vector3(Type x, Type y, Type z) (defined in matrix::Vector3< Type >)matrix::Vector3< Type >inline
write_string(char *buf, size_t n) constmatrix::Matrix< Type, M, 1 >inline
zero() (defined in matrix::Matrix< Type, M, 1 >)matrix::Matrix< Type, M, 1 >inline
+ +
+Generated by   +doxygen + 1.8.11 +
+ + diff --git a/sdk/doc/html/classmatrix_1_1_vector3.html b/sdk/doc/html/classmatrix_1_1_vector3.html new file mode 100644 index 0000000..d386d61 --- /dev/null +++ b/sdk/doc/html/classmatrix_1_1_vector3.html @@ -0,0 +1,410 @@ + + + + + + +YDLIDAR SDK: matrix::Vector3< Type > Class Template Reference + + + + + + + + + + +
+
+ + + + + + +
+
YDLIDAR SDK +  V1.3.6 +
+
+
+ + + + + + +
+
+ + +
+ +
+ + +
+
+
+Public Types | +Public Member Functions | +List of all members
+
+
matrix::Vector3< Type > Class Template Reference
+
+
+
+Inheritance diagram for matrix::Vector3< Type >:
+
+
Inheritance graph
+ + + + +
[legend]
+
+Collaboration diagram for matrix::Vector3< Type >:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + +

+Public Types

+typedef Matrix< Type, 3, 1 > Matrix31
 
- Public Types inherited from matrix::Vector< Type, 3 >
+typedef Matrix< Type, M, 1 > MatrixM1
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ Vector3 (const Matrix31 &other)
 
+ Vector3 (const Type *data_)
 
+ Vector3 (Type x, Type y, Type z)
 
+Vector3 cross (const Matrix31 &b) const
 
Vector3 operator+ (Vector3 other) const
 
+Vector3 operator- (Vector3 other) const
 
+Vector3 operator- () const
 
+Vector3 operator* (Type scalar) const
 
+Type operator* (Vector3 b) const
 
+Vector3 operator% (const Matrix31 &b) const
 
Vector3 unit () const
 
+Vector3 normalized () const
 
+Dcm< Type > hat () const
 
- Public Member Functions inherited from matrix::Vector< Type, 3 >
+ Vector (const MatrixM1 &other)
 
+ Vector (const Type *data_)
 
+Type operator() (size_t i) const
 
+Type & operator() (size_t i)
 
+Type dot (const MatrixM1 &b) const
 
+Type operator* (const MatrixM1 &b) const
 
+Vector operator* (float b) const
 
+Type norm () const
 
+Type length () const
 
+void normalize ()
 
+Vector unit () const
 
+Vector normalized () const
 
+Vector pow (Type v) const
 
- Public Member Functions inherited from matrix::Matrix< Type, M, 1 >
+ Matrix (const Type data_[][N])
 
+ Matrix (const Type *data_)
 
+ Matrix (const Matrix &other)
 
Type * data ()
 
+const Type * data () const
 
+Type operator() (size_t i, size_t j) const
 
+Type & operator() (size_t i, size_t j)
 
+Matrix< Type, M, N > & operator= (const Matrix< Type, M, N > &other)
 
Matrix< Type, M, P > operator* (const Matrix< Type, N, P > &other) const
 
Matrix< Type, M, N > operator* (Type scalar) const
 
+Matrix< Type, M, N > emult (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > edivide (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator+ (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator+ (Type scalar) const
 
+Matrix< Type, M, N > operator- (const Matrix< Type, M, N > &other) const
 
+Matrix< Type, M, N > operator- () const
 
+Matrix< Type, M, N > operator- (Type scalar) const
 
+void operator+= (const Matrix< Type, M, N > &other)
 
+void operator+= (Type scalar)
 
+void operator-= (const Matrix< Type, M, N > &other)
 
+void operator-= (Type scalar)
 
+void operator*= (const Matrix< Type, N, P > &other)
 
+void operator*= (Type scalar)
 
+Matrix< Type, M, N > operator/ (Type scalar) const
 
+void operator/= (Type scalar)
 
void write_string (char *buf, size_t n) const
 
+void print () const
 
+Matrix< Type, N, M > transpose () const
 
+Matrix< Type, N, M > T () const
 
+Matrix< Type, P, Q > slice (size_t x0, size_t y0) const
 
+void set (const Matrix< Type, P, Q > &m, size_t x0, size_t y0)
 
+void setRow (size_t i, const Matrix< Type, N, 1 > &row)
 
+void setCol (size_t j, const Matrix< Type, M, 1 > &col)
 
+void setZero ()
 
+void zero ()
 
+void setAll (Type val)
 
+void setOne ()
 
+void setIdentity ()
 
+void identity ()
 
+void swapRows (size_t a, size_t b)
 
+void swapCols (size_t a, size_t b)
 
+Matrix< Type, M, N > abs () const
 
+Type max () const
 
+Type min () const
 
+ + + + +

+Additional Inherited Members

- Public Attributes inherited from matrix::Matrix< Type, M, 1 >
+Type _data [M][N]
 
+

Member Function Documentation

+ +
+
+
+template<typename Type >
+ + + + + +
+ + + + + + + + +
Vector3 matrix::Vector3< Type >::operator+ (Vector3< Type > other) const
+ 		+inline
+
+

Override matrix ops so Vector3 type is returned

+ +
+
+ +
+
+
+template<typename Type >
+ + + + + +
+ + + + + + + +
Vector3 matrix::Vector3< Type >::unit () const
+ 		+inline
+
+

Override vector ops so Vector3 type is returned

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by   +doxygen + 1.8.11 +
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YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -107,8 +107,8 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
 
The documentation for this class was generated from the following files:
    -
  • /home/yang/tmp/sdk/src/impl/unix/unix_serial.h
    • -
  • /home/yang/tmp/sdk/src/impl/unix/unix_serial.cpp
    • +
  • src/impl/unix/unix_serial.h
    • +
  • src/impl/unix/unix_serial.cpp
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YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -1360,8 +1360,8 @@

Member Function Documentation

The documentation for this class was generated from the following files:
    -
  • /home/yang/tmp/sdk/include/serial.h
    • -
  • /home/yang/tmp/sdk/src/serial.cpp
    • +
  • include/serial.h
    • +
  • src/serial.cpp
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YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/classserial_1_1_serial_1_1_scoped_read_lock.html b/sdk/doc/html/classserial_1_1_serial_1_1_scoped_read_lock.html index 8dc1094..26bda8a 100644 --- a/sdk/doc/html/classserial_1_1_serial_1_1_scoped_read_lock.html +++ b/sdk/doc/html/classserial_1_1_serial_1_1_scoped_read_lock.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -104,7 +104,7 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
 
The documentation for this class was generated from the following file:
    -
  • /home/yang/tmp/sdk/src/serial.cpp
    • +
  • src/serial.cpp
diff --git a/sdk/doc/html/classserial_1_1_serial_1_1_scoped_write_lock-members.html b/sdk/doc/html/classserial_1_1_serial_1_1_scoped_write_lock-members.html index 7a5773c..974d85c 100644 --- a/sdk/doc/html/classserial_1_1_serial_1_1_scoped_write_lock-members.html +++ b/sdk/doc/html/classserial_1_1_serial_1_1_scoped_write_lock-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/classserial_1_1_serial_1_1_scoped_write_lock.html b/sdk/doc/html/classserial_1_1_serial_1_1_scoped_write_lock.html index 3b80fca..f73d871 100644 --- a/sdk/doc/html/classserial_1_1_serial_1_1_scoped_write_lock.html +++ b/sdk/doc/html/classserial_1_1_serial_1_1_scoped_write_lock.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -104,7 +104,7 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
 
The documentation for this class was generated from the following file:
    -
  • /home/yang/tmp/sdk/src/serial.cpp
    • +
  • src/serial.cpp
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YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -265,8 +265,8 @@

Member Function Documentation

The documentation for this class was generated from the following files:
    -
  • /home/yang/tmp/sdk/src/impl/unix/unix_serial.h
    • -
  • /home/yang/tmp/sdk/src/impl/unix/unix_serial.cpp
    • +
  • src/impl/unix/unix_serial.h
    • +
  • src/impl/unix/unix_serial.cpp
diff --git a/sdk/doc/html/classydlidar_1_1_y_dlidar_driver-members.html b/sdk/doc/html/classydlidar_1_1_y_dlidar_driver-members.html index 24f7114..ddf1e71 100644 --- a/sdk/doc/html/classydlidar_1_1_y_dlidar_driver-members.html +++ b/sdk/doc/html/classydlidar_1_1_y_dlidar_driver-members.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -66,6 +65,7 @@ @@ -98,6 +98,8 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
+ + @@ -123,18 +125,22 @@ - - + + + + - - + + - - - - - + + + + + + + @@ -146,31 +152,34 @@ - - - - - + + + + + + + - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + +
_dataEventydlidar::YDlidarDriver
_lockydlidar::YDlidarDriver
_odom_lockydlidar::YDlidarDriver
_serial_lockydlidar::YDlidarDriver
_threadydlidar::YDlidarDriver
ascendScanData(node_info *nodebuffer, size_t count)ydlidar::YDlidarDriver
cacheScanData()ydlidar::YDlidarDriverprotected
getSDKVersion()ydlidar::YDlidarDriverstatic
grabScanData(node_info *nodebuffer, size_t &count, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
initDriver() (defined in ydlidar::YDlidarDriver)ydlidar::YDlidarDriverinlinestatic
isConnectedydlidar::YDlidarDriver
isconnected() const ydlidar::YDlidarDriver
isAutoconntingydlidar::YDlidarDriver
isAutoReconnectydlidar::YDlidarDriver
isconnected() const ydlidar::YDlidarDriver
isConnectedydlidar::YDlidarDriver
isHeartbeatydlidar::YDlidarDriver
isScanningydlidar::YDlidarDriver
isscanning() const ydlidar::YDlidarDriver
isscanning() const ydlidar::YDlidarDriver
isScanningydlidar::YDlidarDriver
MAX_SCAN_NODES enum valueydlidar::YDlidarDriver
reset(uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
scan_node_bufydlidar::YDlidarDriver
scan_node_countydlidar::YDlidarDriver
sendCommand(uint8_t cmd, const void *payload=NULL, size_t payloadsize=0)ydlidar::YDlidarDriverprotected
sendData(const uint8_t *data, size_t size)ydlidar::YDlidarDriverprotected
sendHeartBeat()ydlidar::YDlidarDriverprotected
save_parsingydlidar::YDlidarDriver
scan_node_bufydlidar::YDlidarDriver
scan_node_countydlidar::YDlidarDriver
sendCommand(uint8_t cmd, const void *payload=NULL, size_t payloadsize=0)ydlidar::YDlidarDriverprotected
sendData(const uint8_t *data, size_t size)ydlidar::YDlidarDriverprotected
sendHeartBeat()ydlidar::YDlidarDriverprotected
setAutoReconnect(const bool &enable)ydlidar::YDlidarDriver
setDTR()ydlidar::YDlidarDriverprotected
setHeartBeat(const bool &enable)ydlidar::YDlidarDriver
setIntensities(const bool &isintensities)ydlidar::YDlidarDriver
setRotationPositive(scan_rotation &rotation, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setSamplingRate(sampling_rate &rate, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setSaveLowExposure(scan_exposure &low_exposure, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setScanFrequencyAdd(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setScanFrequencyAddMic(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setScanFrequencyDis(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setScanFrequencyDisMic(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setScanHeartbeat(scan_heart_beat &beat, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setSaveParse(bool parse, const std::string &filename)ydlidar::YDlidarDriver
setScanFrequencyAdd(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setScanFrequencyAddMic(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setScanFrequencyDis(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setScanFrequencyDisMic(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setScanHeartbeat(scan_heart_beat &beat, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
setSyncOdometry(const odom_info &odom)ydlidar::YDlidarDriver
simpleScanData(std::vector< scanDot > *scan_data, node_info *buffer, size_t count)ydlidar::YDlidarDriver
singleton() (defined in ydlidar::YDlidarDriver)ydlidar::YDlidarDriverinlinestatic
startMotor()ydlidar::YDlidarDriver
startScan(bool force=false, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
stop()ydlidar::YDlidarDriver
stopMotor()ydlidar::YDlidarDriver
waitForData(size_t data_count, uint32_t timeout=DEFAULT_TIMEOUT, size_t *returned_size=NULL)ydlidar::YDlidarDriverprotected
waitPackage(node_info *node, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriverprotected
waitResponseHeader(lidar_ans_header *header, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriverprotected
waitScanData(node_info *nodebuffer, size_t &count, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriverprotected
YDLIDAR_F2 enum valueydlidar::YDlidarDriver
YDLIDAR_F4 enum valueydlidar::YDlidarDriver
YDLIDAR_F4PRO enum valueydlidar::YDlidarDriver
YDLIDAR_G4 enum valueydlidar::YDlidarDriver
YDLIDAR_G4C enum valueydlidar::YDlidarDriver
YDLIDAR_S4 enum valueydlidar::YDlidarDriver
YDLIDAR_T1 enum valueydlidar::YDlidarDriver
YDLIDAR_X4 enum valueydlidar::YDlidarDriver
YDlidarDriver()ydlidar::YDlidarDriverprotected
~YDlidarDriver()ydlidar::YDlidarDriverprotectedvirtual
startAutoScan(bool force=false, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriverprotected
startMotor()ydlidar::YDlidarDriver
startScan(bool force=false, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriver
stop()ydlidar::YDlidarDriver
stopMotor()ydlidar::YDlidarDriver
waitForData(size_t data_count, uint32_t timeout=DEFAULT_TIMEOUT, size_t *returned_size=NULL)ydlidar::YDlidarDriverprotected
waitPackage(node_info *node, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriverprotected
waitResponseHeader(lidar_ans_header *header, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriverprotected
waitScanData(node_info *nodebuffer, size_t &count, uint32_t timeout=DEFAULT_TIMEOUT)ydlidar::YDlidarDriverprotected
YDLIDAR_F2 enum valueydlidar::YDlidarDriver
YDLIDAR_F4 enum valueydlidar::YDlidarDriver
YDLIDAR_F4PRO enum valueydlidar::YDlidarDriver
YDLIDAR_G4 enum valueydlidar::YDlidarDriver
YDLIDAR_G4C enum valueydlidar::YDlidarDriver
YDLIDAR_S4 enum valueydlidar::YDlidarDriver
YDLIDAR_T1 enum valueydlidar::YDlidarDriver
YDLIDAR_X4 enum valueydlidar::YDlidarDriver
YDlidarDriver()ydlidar::YDlidarDriverprotected
~YDlidarDriver()ydlidar::YDlidarDriverprotectedvirtual
diff --git a/sdk/doc/html/classydlidar_1_1_y_dlidar_driver.html b/sdk/doc/html/classydlidar_1_1_y_dlidar_driver.html index f5f8712..73b13dd 100644 --- a/sdk/doc/html/classydlidar_1_1_y_dlidar_driver.html +++ b/sdk/doc/html/classydlidar_1_1_y_dlidar_driver.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ @@ -105,10 +105,11 @@
Collaboration graph
- - - - + + + + +
[legend]
YDLIDAR SDK -  V1.3.3 +  V1.3.6
@@ -151,6 +152,9 @@ + + + @@ -163,6 +167,14 @@ + + + + + + @@ -314,6 +326,18 @@ std::atomic< bool >  + + + + + + + + + @@ -330,6 +354,14 @@ Locker  + + + + + + @@ -345,6 +377,10 @@ + + + @@ -1413,6 +1449,31 @@

Member Function Documentation

Note
只有(G4, G4C, F4PRO)雷达支持掉电保护功能, 别的型号雷达暂不支持
+ + + +
+
+
 连接雷达状态
More...
 
void setSyncOdometry (const odom_info &odom)
 setSyncOdometry 同步激光和imu,里程计数据 More...
 
void setIntensities (const bool &isintensities)
 设置雷达是否带信号质量
连接成功后，必须使用::disconnect函数关闭 More...
 设置雷达掉电保护使能
More...
 
void setAutoReconnect (const bool &enable)
 设置雷达异常自动重新连接
+ More...
 
bool setSaveParse (bool parse, const std::string &filename)
 设置保存解析命令到文件
+ More...
 
result_t getHealth (device_health &health, uint32_t timeout=DEFAULT_TIMEOUT)
 获取雷达设备健康状态
More...
isHeartbeat
 掉电保护状态
 
+std::atomic< bool > isAutoReconnect
 异常自动从新连接
 
+std::atomic< bool > isAutoconnting
 是否正在自动连接中
 
+std::atomic< bool > save_parsing
 是否保存解析命令到文件，调试调用
 
node_info scan_node_buf [2048]
 激光点信息
_lock
 线程锁
 
+Locker _serial_lock
 串口锁
 
+Locker _odom_lock
 里程计同步锁
 
Thread _thread
 线程id
 创建解析雷达数据线程
More...
 
result_t startAutoScan (bool force=false, uint32_t timeout=DEFAULT_TIMEOUT)
 重新连接开启扫描
+ More...
 
result_t waitPackage (node_info *node, uint32_t timeout=DEFAULT_TIMEOUT)
 解包激光数据
More...
+ + + + + + + +
void ydlidar::YDlidarDriver::setAutoReconnect (const bool & enable)
+
+ +

设置雷达异常自动重新连接
+

+
Parameters
+ + +
[in]enable是否开启自动重连: true 开启 false 关闭
+
+
+
@@ -1826,6 +1887,41 @@

Member Function Documentation

Note
停止扫描后再执行当前操作, 当前操作需在非低光功率模式下,
只有S4雷达支持此功能
+ + + +
+
+ + + + + + + + + + + + + + + + + + +
bool ydlidar::YDlidarDriver::setSaveParse (bool parse,
const std::string & filename 
)
+
+ +

设置保存解析命令到文件
+

+
Parameters
+ + +
[in]parse是否保存解析: true 保存 false 不保存 保存文件名
+
+
+
@@ -2051,6 +2147,30 @@

Member Function Documentation

Note
停止扫描后再执行当前操作, 当前操作是开关量, (G4, G4C, F4PRO)版本号大于等于2.0.9才支持
+ + + +
+
+ + + + + + + + +
void ydlidar::YDlidarDriver::setSyncOdometry (const odom_info & odom)
+
+ +

setSyncOdometry 同步激光和imu,里程计数据

+
Parameters
+ + +
odomimu或者里程计数据
+
+
+
@@ -2095,6 +2215,59 @@

Member Function Documentation

Note
解析之前，必须使用::ascendScanData函数获取激光数据成功
+ + + +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
result_t ydlidar::YDlidarDriver::startAutoScan (bool force = false,
uint32_t timeout = DEFAULT_TIMEOUT 
)
+ 		+protected
+
+ +

重新连接开启扫描
+

+
Parameters
+ + + +
[in]force扫描模式
[in]timeout超时时间
+
+
+
Returns
返回执行结果
+
Return values
+ + + +
RESULT_OK开启成功
RESULT_FAILE开启失败
+
+
+
Note
sdk 自动重新连接调用
+
@@ -2322,6 +2495,7 @@

Member Function Documentation

+

< 负数

@@ -2440,8 +2614,8 @@

Member Function Documentation

The documentation for this class was generated from the following files: diff --git a/sdk/doc/html/classydlidar_1_1_y_dlidar_driver__coll__graph.map b/sdk/doc/html/classydlidar_1_1_y_dlidar_driver__coll__graph.map index c52aa6d..bd4a399 100644 --- a/sdk/doc/html/classydlidar_1_1_y_dlidar_driver__coll__graph.map +++ b/sdk/doc/html/classydlidar_1_1_y_dlidar_driver__coll__graph.map @@ -1,6 +1,7 @@ - - - - + + + + + diff --git a/sdk/doc/html/classydlidar_1_1_y_dlidar_driver__coll__graph.md5 b/sdk/doc/html/classydlidar_1_1_y_dlidar_driver__coll__graph.md5 index e62d96b..2254606 100644 --- a/sdk/doc/html/classydlidar_1_1_y_dlidar_driver__coll__graph.md5 +++ b/sdk/doc/html/classydlidar_1_1_y_dlidar_driver__coll__graph.md5 @@ -1 +1 @@ -9aa8c236460240c09f1b2c5007b058a3 \ No newline at end of file +7188a8aeb401b3de701b2966daf391c9 \ No newline at end of file diff --git a/sdk/doc/html/classydlidar_1_1_y_dlidar_driver__coll__graph.png 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common.h
-
1 #pragma once
2 
3 #if defined(_WIN32)
4 #include "impl\windows\win.h"
5 #include "impl\windows\win_serial.h"
6 #elif defined(__GNUC__)
7 #include "impl/unix/unix.h"
8 #include "impl/unix/unix_serial.h"
9 #else
10 #error "unsupported target"
11 #endif
12 
13 #include "locker.h"
14 #include "serial.h"
15 #include "thread.h"
16 #include "timer.h"
17 
18 #define SDKVerision "1.3.3"
+
1 #pragma once
2 
3 #if defined(_WIN32)
4 #include "impl\windows\win.h"
5 #include "impl\windows\win_serial.h"
6 #elif defined(__GNUC__)
7 #include "impl/unix/unix.h"
8 #include "impl/unix/unix_serial.h"
9 #else
10 #error "unsupported target"
11 #endif
12 
13 #include "locker.h"
14 #include "serial.h"
15 #include "thread.h"
16 #include "timer.h"
17 
18 #define SDKVerision "1.3.6"
Generated by   diff --git a/sdk/doc/html/dir_0834a1453ead243784276400df23f54f.html b/sdk/doc/html/dir_0834a1453ead243784276400df23f54f.html index 4946cbb..6e86676 100644 --- a/sdk/doc/html/dir_0834a1453ead243784276400df23f54f.html +++ b/sdk/doc/html/dir_0834a1453ead243784276400df23f54f.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/src/impl/list_ports Directory Reference +YDLIDAR SDK: src/impl/list_ports Directory Reference @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- diff --git a/sdk/doc/html/dir_109f68d84cef4a133396a0be144fa9b1.html b/sdk/doc/html/dir_109f68d84cef4a133396a0be144fa9b1.html new file mode 100644 index 0000000..906a7f8 --- /dev/null +++ b/sdk/doc/html/dir_109f68d84cef4a133396a0be144fa9b1.html @@ -0,0 +1,105 @@ + + + + + + +YDLIDAR SDK: matrix Directory Reference + + + + + + + + + + +
+
+
YDLIDAR SDK -  V1.3.3 +  V1.3.6
+ + + + + +
+
YDLIDAR SDK +  V1.3.6 +
+
+ + + + + + + +
+
+ + +
+ +
+ + + +
+
+
matrix Directory Reference
+
+
+ + +

+Directories

+
+ +
+Generated by   +doxygen + 1.8.11 +
+ + diff --git a/sdk/doc/html/dir_3808e3f8fe545b07b1d2715928fb0eea.html b/sdk/doc/html/dir_3808e3f8fe545b07b1d2715928fb0eea.html index 8a72482..fb6c39e 100644 --- a/sdk/doc/html/dir_3808e3f8fe545b07b1d2715928fb0eea.html +++ b/sdk/doc/html/dir_3808e3f8fe545b07b1d2715928fb0eea.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/src/impl Directory Reference +YDLIDAR SDK: src/impl Directory Reference @@ -22,10 +22,9 @@ - diff --git a/sdk/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/sdk/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html index 3881747..f7fb714 100644 --- a/sdk/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/sdk/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/src Directory Reference +YDLIDAR SDK: src Directory Reference @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- diff --git a/sdk/doc/html/dir_68d46136ab8a8bc94545215845910cfb.html b/sdk/doc/html/dir_68d46136ab8a8bc94545215845910cfb.html index 617e9b0..a68dfc7 100644 --- a/sdk/doc/html/dir_68d46136ab8a8bc94545215845910cfb.html +++ b/sdk/doc/html/dir_68d46136ab8a8bc94545215845910cfb.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/src/impl/unix Directory Reference +YDLIDAR SDK: src/impl/unix Directory Reference @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- diff --git a/sdk/doc/html/dir_6f9635d4fbfa321d4c00f29df5cd540c.html b/sdk/doc/html/dir_6f9635d4fbfa321d4c00f29df5cd540c.html index a7cd530..6cae422 100644 --- a/sdk/doc/html/dir_6f9635d4fbfa321d4c00f29df5cd540c.html +++ b/sdk/doc/html/dir_6f9635d4fbfa321d4c00f29df5cd540c.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/samples Directory Reference +YDLIDAR SDK: samples Directory Reference @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- diff --git a/sdk/doc/html/dir_82aec79caba402669c6c7bcbbee3baec.html b/sdk/doc/html/dir_82aec79caba402669c6c7bcbbee3baec.html new file mode 100644 index 0000000..3aecace --- /dev/null +++ b/sdk/doc/html/dir_82aec79caba402669c6c7bcbbee3baec.html @@ -0,0 +1,117 @@ + + + + + + +YDLIDAR SDK: matrix/matrix Directory Reference + + + + + + + + + + +
+
+
YDLIDAR SDK -  V1.3.3 +  V1.3.6
+ + + + + +
+
YDLIDAR SDK +  V1.3.6 +
+
+ + + + + + + +
+
+ + +
+ +
+ + + +
+
+
matrix Directory Reference
+
+
+ + + + + + + + + + + + + + +

+Files

file  Matrix.hpp [code]
 
file  SquareMatrix.hpp [code]
 
file  stdlib_imports.hpp [code]
 
file  Vector.hpp [code]
 
file  Vector2.hpp [code]
 
file  Vector3.hpp [code]
 
+
+ +
+Generated by   +doxygen + 1.8.11 +
+ + diff --git a/sdk/doc/html/dir_cfa68689d3aca823fc84b2132e590e35.html b/sdk/doc/html/dir_cfa68689d3aca823fc84b2132e590e35.html index e172966..9525fb8 100644 --- a/sdk/doc/html/dir_cfa68689d3aca823fc84b2132e590e35.html +++ b/sdk/doc/html/dir_cfa68689d3aca823fc84b2132e590e35.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/src/impl/windows Directory Reference +YDLIDAR SDK: src/impl/windows Directory Reference @@ -22,10 +22,9 @@ - diff --git a/sdk/doc/html/dir_d44c64559bbebec7f509842c48db8b23.html b/sdk/doc/html/dir_d44c64559bbebec7f509842c48db8b23.html index e8627f1..e9858dd 100644 --- a/sdk/doc/html/dir_d44c64559bbebec7f509842c48db8b23.html +++ b/sdk/doc/html/dir_d44c64559bbebec7f509842c48db8b23.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/include Directory Reference +YDLIDAR SDK: include Directory Reference @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- diff --git a/sdk/doc/html/files.html b/sdk/doc/html/files.html index b460c16..081b9f7 100644 --- a/sdk/doc/html/files.html +++ b/sdk/doc/html/files.html @@ -22,10 +22,9 @@
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- @@ -91,22 +90,35 @@
[detail level 1234]
YDLIDAR SDK -  V1.3.3 +  V1.3.6
- - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 ▼ include
 CYdLidar.h
 locker.h
 serial.h
 thread.h
 timer.h
 utils.h
 v8stdint.h
 ydlidar_driver.h
 ▼ src
 ▼ impl
 ▼ unix
 unix.h
 unix_serial.h
 ▼ windows
 win.h
 win_serial.h
 common.h
 line_feature.h
 lock.h
 locker.h
 serial.h
 thread.h
 timer.h
 utilities.h
 utils.h
 v8stdint.h
 ydlidar_driver.h
 ▼ matrix
 ▼ matrix
 helper_functions.hpp
 math.hpp
 Matrix.hpp
 SquareMatrix.hpp
 stdlib_imports.hpp
 Vector.hpp
 Vector2.hpp
 Vector3.hpp
 ▼ src
 ▼ impl
 ▼ unix
 unix.h
 unix_serial.h
 ▼ windows
 win.h
 win_serial.h
 common.h
diff --git a/sdk/doc/html/functions.html b/sdk/doc/html/functions.html index 1ff5819..9f64bab 100644 --- a/sdk/doc/html/functions.html +++ b/sdk/doc/html/functions.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ @@ -94,7 +94,10 @@
  • r
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    • +
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    • @@ -124,6 +127,12 @@

    - _ -

    YDLIDAR SDK -  V1.3.3 +  V1.3.6
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    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -89,6 +89,7 @@
  • o
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    • +
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    • @@ -151,6 +152,9 @@

    - c -

    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -92,7 +92,10 @@
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    - _ -

    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - diff --git a/sdk/doc/html/helper__functions_8hpp_source.html b/sdk/doc/html/helper__functions_8hpp_source.html new file mode 100644 index 0000000..984f23f --- /dev/null +++ b/sdk/doc/html/helper__functions_8hpp_source.html @@ -0,0 +1,102 @@ + + + + + + +YDLIDAR SDK: matrix/matrix/helper_functions.hpp Source File + + + + + + + + + + +
    +
    +
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    + + + + + + + +
    +
    + + +
    + +
    + + + +
    +
    +
    helper_functions.hpp
    +
    +
    +
    1 #pragma once
    2 
    3 #include "math.hpp"
    4 
    5 namespace matrix
    6 {
    7 
    8 template<typename Type>
    9 bool is_finite(Type x) {
    10  return std::isfinite(x);
    11 }
    12 
    13 template<typename Type>
    14 Type wrap_pi(Type x)
    15 {
    16  if (!is_finite(x)) {
    17  return x;
    18  }
    19 
    20  while (x >= Type(M_PI)) {
    21  x -= Type(2.0 * M_PI);
    22 
    23  }
    24 
    25  while (x < Type(-M_PI)) {
    26  x += Type(2.0 * M_PI);
    27 
    28  }
    29 
    30  return x;
    31 }
    32 
    33 
    34 }
    matrix
    Definition: helper_functions.hpp:5
    +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/hierarchy.html b/sdk/doc/html/hierarchy.html new file mode 100644 index 0000000..c58ffe1 --- /dev/null +++ b/sdk/doc/html/hierarchy.html @@ -0,0 +1,165 @@ + + + + + + +YDLIDAR SDK: Class Hierarchy + + + + + + + + + + +
    +
    + + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    +
    + + + + + +
    + +
    +
    + + +
    + +
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    +
    +
    Class Hierarchy
    +
    +
    +
    +

    Go to the graphical class hierarchy

    +This inheritance list is sorted roughly, but not completely, alphabetically:
    +
    [detail level 123]
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
     Cline_feature::_generate_line
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     Cline_feature::_line
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     Cline_feature::_POINTT
     Cline_feature::CachedData
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     ▼Cmatrix::Matrix< Type, M, N >
     Cmatrix::Vector< double, 3 >
     ▼Cmatrix::Matrix< double, M, M >
     Cmatrix::SquareMatrix< double, 3 >
     ▼Cmatrix::Matrix< Type, M, 1 >
     Cmatrix::Vector< Type, M >
     ▼Cmatrix::Vector< Type, 2 >
     Cmatrix::Vector2< Type >
     ▼Cmatrix::Vector< Type, 3 >
     Cmatrix::Vector3< Type >
     ▼Cmatrix::Matrix< Type, M, M >
     Cmatrix::SquareMatrix< Type, M >
     Cserial::MillisecondTimer
     Cnode_info
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     Cnode_packages
     Codom_info
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     Cline_feature::Params
     Cpoint_info
     CPointCloud
     Cline_feature::PointParams
     Cserial::PortInfo
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     CscanDot
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     Cserial::Serial::ScopedReadLock
     Cserial::Serial::ScopedWriteLock
     Cserial::Serial
     Cserial::Serial::SerialImpl
     Cserial::termios2
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     Cserial::Timeout
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    YDLIDAR SDK -  V1.3.3 +  V1.3.6
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    Class Hierarchy
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    Go to the textual class hierarchy

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    + + + +
    +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/line__feature_8h_source.html b/sdk/doc/html/line__feature_8h_source.html new file mode 100644 index 0000000..63fb94f --- /dev/null +++ b/sdk/doc/html/line__feature_8h_source.html @@ -0,0 +1,107 @@ + + + + + + +YDLIDAR SDK: include/line_feature.h Source File + + + + + + + + + + +
    +
    + + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    +
    + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    line_feature.h
    +
    +
    +
    1 #ifndef _LINE_FEATURE_H_
    2 #define _LINE_FEATURE_H_
    3 
    4 #include <iostream>
    5 #include <stdio.h>
    6 #include <math.h>
    7 #include "utilities.h"
    8 
    9 
    10 namespace line_feature
    11 {
    12 
    13 class LineFeature
    14 {
    15  public:
    16  LineFeature();
    17  //
    18  ~LineFeature();
    19  void setCachedRangeData(const std::vector<double>& , const std::vector<unsigned int>& , const RangeData& );
    20  void extractLines(std::vector<gline>&);
    21 
    22  void set_least_threshold(double);
    23  void set_min_line_length(double);
    24  void set_max_point_distance(double);
    25  void set_min_predict_distance(double);
    26  void set_min_line_points(unsigned int);
    27  void set_seed_line_points(unsigned int);
    28  private:
    29  least leastsquare(int,int,int);
    30  bool detectline(const int,const int);
    31  int findline(const int);
    32  void eraseline();
    33  bool delete_short_line(const int,const int);
    34  void endpoint_generation(std::vector<gline>&);
    35  private:
    36 
    37  CachedData cs_data_;
    38  RangeData range_data_;
    39  Params params_;
    40  std::vector<unsigned int> point_num_;
    41  std::vector<line> m_line;
    42  least m_least;
    43 
    44  double mid1;
    45  double mid2;
    46  double mid3;
    47  double mid4;
    48  double mid5;
    49 };
    50 
    51 }//namespace line_feature
    52 #endif
    53 
    line_feature::RangeData
    Definition: utilities.h:25
    +
    line_feature::CachedData
    Definition: utilities.h:19
    +
    line_feature::Params
    Definition: utilities.h:32
    +
    line_feature::_least
    Definition: utilities.h:77
    +
    line_feature::LineFeature
    Definition: line_feature.h:13
    +
    line_feature
    Definition: line_feature.h:10
    +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/lock_8h_source.html b/sdk/doc/html/lock_8h_source.html new file mode 100644 index 0000000..408e430 --- /dev/null +++ b/sdk/doc/html/lock_8h_source.html @@ -0,0 +1,101 @@ + + + + + + +YDLIDAR SDK: include/lock.h Source File + + + + + + + + + + +
    +
    + + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    +
    + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    lock.h
    +
    +
    +
    1 /*
    2  * lock.h
    3  *
    4  * Created on: 28 Mar 2018
    5  * Author: Tony
    6  * E-Mail: Tony@gmail.com
    7  */
    8 
    9 #ifndef LOCK_H_
    10 #define LOCK_H_
    11 
    12 
    13 #ifdef HAVE_SYS_FILE_H
    14 # include <sys/file.h>
    15 #endif /* HAVE_SYS_FILE_H */
    16 #ifdef LFS /* File Lock Server */
    17 # include <sys/socket.h>
    18 # include <netinet/in.h>
    19 # include <arpa/inet.h>
    20 #endif /* FLS */
    21 #if defined(__linux__)
    22 # include <linux/types.h> /* fix for linux-2.3.4? kernels */
    23 # include <linux/serial.h>
    24 # include <linux/version.h>
    25 #endif /* __linux__ */
    26 #if defined(__sun__)
    27 # include <sys/filio.h>
    28 # include <sys/mkdev.h>
    29 #endif /* __sun__ */
    30 #if defined(__hpux__)
    31 # include <sys/modem.h>
    32 #endif /* __hpux__ */
    33 /* FIXME -- new file */
    34 #if defined(__APPLE__)
    35 # include <CoreFoundation/CoreFoundation.h>
    36 # include <IOKit/IOKitLib.h>
    37 # include <IOKit/serial/IOSerialKeys.h>
    38 # include <IOKit/IOBSD.h>
    39 #endif /* __APPLE__ */
    40 #ifdef __unixware__
    41 # include <sys/filio.h>
    42 #endif /* __unixware__ */
    43 #ifdef HAVE_PWD_H
    44 #include <pwd.h>
    45 #endif /* HAVE_PWD_H */
    46 #ifdef HAVE_GRP_H
    47 #include <grp.h>
    48 #endif /* HAVE_GRP_H */
    49 #include <math.h>
    50 #ifdef LIBLOCKDEV
    51 #include <lockdev.h>
    52 #endif /* LIBLOCKDEV */
    53 
    54 
    55 
    56 /* Ports known on the OS */
    57 #if defined(__linux__)
    58 # define DEVICEDIR "/dev/"
    59 # define LOCKDIR "/var/lock"
    60 # define LOCKFILEPREFIX "LCK.."
    61 # define FHS
    62 #endif /* __linux__ */
    63 #if defined(__QNX__)
    64 # define DEVICEDIR "/dev/"
    65 # define LOCKDIR ""
    66 # define LOCKFILEPREFIX ""
    67 #endif /* qnx */
    68 #if defined(__sgi__) || defined(sgi)
    69 # define DEVICEDIR "/dev/"
    70 # define LOCKDIR "/usr/spool/uucp"
    71 # define LOCKFILEPREFIX "LK."
    72 # define UUCP
    73 #endif /* __sgi__ || sgi */
    74 #if defined(__FreeBSD__)
    75 # define DEVICEDIR "/dev/"
    76 # define LOCKDIR "/var/spool/lock"
    77 # define LOCKFILEPREFIX "LK.."
    78 # define UUCP
    79 #endif /* __FreeBSD__ */
    80 #if defined(__APPLE__)
    81 # define DEVICEDIR "/dev/"
    82 /*# define LOCKDIR "/var/spool/uucp"*/
    83 # define LOCKDIR "/var/lock"
    84 # define LOCKFILEPREFIX "LK."
    85 # define UUCP
    86 #endif /* __APPLE__ */
    87 #if defined(__NetBSD__)
    88 # define DEVICEDIR "/dev/"
    89 # define LOCKDIR "/var/lock"
    90 /*# define LOCKDIR "/usr/spool/uucp"*/
    91 # define LOCKFILEPREFIX "LK."
    92 # define UUCP
    93 #endif /* __NetBSD__ */
    94 #if defined(__unixware__)
    95 # define DEVICEDIR "/dev/"
    96 /* really this only fully works for OpenServer */
    97 # define LOCKDIR "/var/spool/uucp/"
    98 # define LOCKFILEPREFIX "LK."
    99 /*
    100 this needs work....
    101 Jonathan Schilling <jls@caldera.com> writes:
    102 This is complicated because as I said in my previous mail, there are
    103 two kinds of SCO operating systems.
    104 The one that most people want gnu.io for, including the guy who
    105 asked the mailing list about SCO support a few days ago, is Open Server
    106 (a/k/a "SCO UNIX"), which is SVR3-based. This uses old-style uucp locks,
    107 of the form LCK..tty0a. That's what I implemented in the RXTX port I did,
    108 and it works correctly.
    109 The other SCO/Caldera OS, UnixWare/Open UNIX, uses the new-style
    110 SVR4 locks, of the form LK.123.123.123. These OSes are a lot like
    111 Solaris (UnixWare/Open UNIX come from AT&T SVR4 which had a joint
    112 The other SCO/Caldera OS, UnixWare/Open UNIX, uses the new-style
    113 SVR4 locks, of the form LK.123.123.123. These OSes are a lot like
    114 Solaris (UnixWare/Open UNIX come from AT&T SVR4 which had a joint
    115 heritage with Sun way back when). I saw that you added support
    116 for this form of lock by RXTX 1.4-10 ... but it gets messy because,
    117 as I said before, we use the same binary gnu.io files for both
    118 UnixWare/Open UNIX and OpenServer. Thus we can't #ifdef one or the
    119 other; it would have to be a runtime test. Your code and your macros
    120 aren't set up for doing this (understandably!). So I didn't implement
    121 these; the gnu.io locks won't fully work on UnixWare/Open UNIX
    122 as a result, which I mentioned in the Release Notes.
    123 What I would suggest is that you merge in the old-style LCK..tty0a lock
    124 code that I used, since this will satisfy 90% of the SCO users. Then
    125 I'll work on some way of getting UnixWare/Open UNIX locking to work
    126 correctly, and give you those changes at a later date.
    127 Jonathan
    128 FIXME The lock type could be passed with -DOLDUUCP or -DUUCP based on
    129 os.name in configure.in or perhaps system defines could determine the lock
    130 type.
    131 Trent
    132 */
    133 # define OLDUUCP
    134 #endif
    135 #if defined(__hpux__)
    136 /* modif cath */
    137 # define DEVICEDIR "/dev/"
    138 # define LOCKDIR "/var/spool/uucp"
    139 # define LOCKFILEPREFIX "LCK."
    140 # define UUCP
    141 #endif /* __hpux__ */
    142 #if defined(__osf__) /* Digital Unix */
    143 # define DEVICEDIR "/dev/"
    144 # define LOCKDIR ""
    145 # define LOCKFILEPREFIX "LK."
    146 # define UUCP
    147 #endif /* __osf__ */
    148 #if defined(__sun__) /* Solaris */
    149 # define DEVICEDIR "/dev/"
    150 # define LOCKDIR "/var/spool/locks"
    151 # define LOCKFILEPREFIX "LK."
    152 /*
    153 # define UUCP
    154 */
    155 #endif /* __sun__ */
    156 #if defined(__BEOS__)
    157 # define DEVICEDIR "/dev/ports/"
    158 # define LOCKDIR ""
    159 # define LOCKFILEPREFIX ""
    160 # define UUCP
    161 #endif /* __BEOS__ */
    162 #if defined(WIN32)
    163 # define DEVICEDIR "//./"
    164 # define LOCKDIR ""
    165 # define LOCKFILEPREFIX ""
    166 #endif /* WIN32 */
    167 
    168 /* allow people to override the directories */
    169 /* #define USER_LOCK_DIRECTORY "/home/tjarvi/1.5/build" */
    170 #ifdef USER_LOCK_DIRECTORY
    171 # define LOCKDIR USER_LOCK_DIRECTORY
    172 #endif /* USER_LOCK_DIRECTORY */
    173 
    174 #ifdef DISABLE_LOCKFILES
    175 #undef UUCP
    176 #undef FHS
    177 #undef OLDUUCP
    178 #endif /* DISABLE_LOCKFILES */
    179 
    180 /* That should be all you need to look at in this file for porting */
    181 #ifdef LFS /* Use a Lock File Server */
    182 # define LOCK lfs_lock
    183 # define UNLOCK lfs_unlock
    184 #elif defined(UUCP)
    185 # define LOCK uucp_lock
    186 # define UNLOCK uucp_unlock
    187 #elif defined(OLDUUCP)
    188 /*
    189  We can handle the old style if needed here see __unixware__ above.
    190  defaulting to rxtx-1.4-8 behavior for now.
    191  see also __sco__ in SerialImp.c when changing this for a possible
    192  bug
    193  FIXME
    194 */
    195 # define LOCK fhs_lock
    196 # define UNLOCK fhs_unlock
    197 #elif defined(FHS)
    198 #ifdef LIBLOCKDEV
    199 # define LOCK lib_lock_dev_lock
    200 # define UNLOCK lib_lock_dev_unlock
    201 #else
    202 # define LOCK fhs_lock
    203 # define UNLOCK fhs_unlock
    204 #endif /* LIBLOCKDEV */
    205 #else
    206 # define LOCK system_does_not_lock
    207 # define UNLOCK system_does_not_unlock
    208 #endif /* UUCP */
    209 
    210 
    211 
    212 //#ifndef __WIN32__
    213 //#define UUCP_LOCK_DIR "/var/lock"
    214 
    215 #ifdef __cplusplus
    216 extern "C" {
    217 #endif
    218 //int uucp_lock( const char *file);
    219 //int uucp_unlock(void);
    220 int check_group_uucp();
    221 int check_lock_pid( const char *file, int openpid );
    222 int lock_device( const char * );
    223 void unlock_device( const char * );
    224 int is_device_locked( const char * );
    225 int check_lock_status( const char * );
    226 int lfs_unlock(const char *, int );
    227 int lfs_lock( const char *, int);
    228 int lib_lock_dev_unlock(const char *, int );
    229 int lib_lock_dev_lock( const char *, int);
    230 void fhs_unlock(const char *, int );
    231 int fhs_lock( const char *, int);
    232 void uucp_unlock( const char *, int );
    233 int uucp_lock( const char *, int );
    234 
    235 #ifdef __cplusplus
    236 }
    237 #endif
    238 
    239 //#endif
    240 
    241 #endif /* LOCK_H_ */
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/locker_8h_source.html b/sdk/doc/html/locker_8h_source.html index 32f652b..8ba5ffa 100644 --- a/sdk/doc/html/locker_8h_source.html +++ b/sdk/doc/html/locker_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/include/locker.h Source File +YDLIDAR SDK: include/locker.h Source File @@ -22,10 +22,9 @@ - diff --git a/sdk/doc/html/math_8hpp_source.html b/sdk/doc/html/math_8hpp_source.html new file mode 100644 index 0000000..3cf5e8c --- /dev/null +++ b/sdk/doc/html/math_8hpp_source.html @@ -0,0 +1,107 @@ + + + + + + +YDLIDAR SDK: matrix/matrix/math.hpp Source File + + + + + + + + + + +
    +
    +
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    + + + + + + + +
    +
    + + +
    + +
    + + + +
    +
    +
    math.hpp
    +
    +
    +
    1 #pragma once
    2 
    3 #include "stdlib_imports.hpp"
    4 #include "Matrix.hpp"
    5 #include "SquareMatrix.hpp"
    6 #include "Vector.hpp"
    7 #include "Vector2.hpp"
    8 #include "Vector3.hpp"
    stdlib_imports.hpp
    +
    Vector2.hpp
    +
    SquareMatrix.hpp
    +
    Vector3.hpp
    +
    Matrix.hpp
    +
    Vector.hpp
    +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/md_README.html b/sdk/doc/html/md_README.html index 8ab7386..6c609cf 100644 --- a/sdk/doc/html/md_README.html +++ b/sdk/doc/html/md_README.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: YDLIDAR SDK PACKAGE V1.3.1 +YDLIDAR SDK: YDLIDAR SDK PACKAGE V1.3.6 @@ -22,10 +22,9 @@ - @@ -79,18 +78,182 @@
    -
    YDLIDAR SDK PACKAGE V1.3.1
    +
    YDLIDAR SDK PACKAGE V1.3.6
    -

    SDK test application for YDLIDAR

    -

    Visit EAI Website for more details about YDLIDAR.

    +

    SDK test application for YDLIDAR

    +

    Visit EAI Website for more details about YDLIDAR .

    How to build YDLIDAR SDK samples

    -

    1) Clone this project to your computer folder 2) Clone this project to your computer folder 2) Running cmake to build ydlidar_test

    -

    How to run YDLIDAR SDK samples

    -

    –$ cd samples –$ ./ydlidar_test /dev/ttyUSB0 115200 0

    -

    You should see YDLIDAR's scan result in the console

    -

    Upgrade Log

    -

    2018-04-16 version:1.3.1 1.Compensate for each laser point timestamp.

    +
    $ git clone https://github.com/yangfuyuan/sdk
+
+$ cd sdk
+
+$ git checkout master
+
+$ cd ..
+
+$ mkdir build
+
+$ cd build
+
+$ cmake ../sdk
+
+$ make          ###linux
+
+$ vs open Project.sln   ###windows
+

    How to run YDLIDAR SDK samples

    +
    $ cd samples
+

    linux: 

    $ ./ydlidar_test
+
+$ Please enter the lidar port:/dev/ttyUSB0
+
+$ Please enter the lidar baud rate:115200
+
+$ Please enter the lidar intensity:0
+

    windows: 

    $ ydlidar_test.exe
+
+$ Please enter the lidar port:COM3
+
+$ Please enter the lidar baud rate:115200
+
+$ Please enter the lidar intensity:0
+

    =====================================================================

    +

    You should see YDLIDAR's scan result in the console: 

        YDLIDAR C++ TEST
+Please enter the lidar port:/dev/ttyUSB0
+Please enter the lidar baud rate:115200
+Please enter the lidar intensity:1
+fhs_lock: creating lockfile:      25148
+
+Yd Lidar running correctly ! The health status: good
+firmware: 273
+[YDLIDAR] Connection established in [/dev/ttyUSB0]:
+Firmware version: 1.1.7
+Hardware version: 1
+Model: S4
+Serial: 2018022700000003
+[YDLIDAR INFO] Current Sampling Rate : 4K
+[YDLIDAR INFO] Current Scan Frequency : 7.000000Hz
+set EXPOSURE MODEL SUCCESS!!!
+[YDLIDAR INFO] Now YDLIDAR is scanning ......
+min_angle: -3.141593 
+max_angle: 3.141593 
+Scan received: 571 ranges
+fit line size: 9 
+line length: 0.127150,   line angle: -1.888069
+line length: 0.149980,   line angle: -2.520781
+line length: 0.149141,   line angle: -2.590903
+line length: 0.186178,   line angle: -2.221969
+line length: 0.123318,   line angle: -2.354801
+line length: 0.086761,   line angle: 2.476112
+line length: 0.035698,   line angle: 2.552944
+line length: 0.108063,   line angle: 0.907348
+line length: 0.115837,   line angle: -1.229582
+

    Lidar point data structure

    +

    data structure: 

    struct odom_info {
+
+  uint64_t   stamp; ///< 时间戳
+
+  double x;       ///< x位置
+
+  double y;      ///< y位置
+
+  double phi;     ///< 角度方向
+
+  double v;       ///< 线速度
+
+  double w;       ///< 角速度
+
+  double dx;       ///< x位置增量
+
+  double dy;       ///< y位置增量
+
+  double dth;       ///< 方向增量
+
+};
+
+struct node_info {
+
+   uint8_t    sync_flag;//new scan flag
+
+   uint16_t    sync_quality;//!intensity
+
+   uint16_t   angle_q6_checkbit; //!angle
+
+   uint16_t   distance_q; //! distance
+
+   uint64_t   stamp; //! time stamp
+
+   uint8_t    scan_frequence;//! current_frequence = scan_frequence/10.0, If the current value equals zero, it is an invalid value
+
+   odom_info   current_odom; //! current odometry sync pose
+
+} __attribute__((packed)) ;
+

    example: 

    if(data[i].scan_frequence != 0) {
+
+    current_frequence = data[i].scan_frequence/10.0;
+}
+
+current_time_stamp = data[i].stamp;
+
+current_distance = data[i].distance_q;　//v1.3.5版本之后距离不用右移２位
+
+current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);
+
+current_intensity = (float)(data[i].sync_quality);//v1.3.5版本之后信号质量不用右移２位
+
+###note:current_frequence = data[0].scan_frequence/10.0.
+
+###if the current_frequence value equals zero, it is an invalid value.
+

    code: 

        void ParseScan(node_info* data, const size_t& size) {
+
+        double current_frequence, current_distance, current_angle, current_intensity;
+
+        uint64_t current_time_stamp;
+
+        for (size_t i = 0; i < size; i++ ) {
+
+            if( data[i].scan_frequence != 0) {
+
+                current_frequence =  data[i].scan_frequence;//or current_frequence = data[0].scan_frequence
+
+            }
+
+            current_time_stamp = data[i].stamp;
+
+            current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);//LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT equals 8
+
+            current_distance =  data[i].distance_q;
+
+            current_intensity = (float)(data[i].sync_quality );
+
+        }
+
+        if (current_frequence != 0 ) {
+
+            printf("current lidar scan frequency: %f\n", current_frequence);
+
+        } else {
+
+            printf("Current lidar does not support return scan frequency\n");
+
+        }
+    }
+

    Upgrade Log

    +

    2018-07-17 version:1.3.6

    +

    1.add fit line.

    +

    2018-05-23 version:1.3.5

    +

    1.add sync imu or odometry.

    +

    2.update scan protocol.

    +

    2018-05-23 version:1.3.4

    +

    1.add automatic reconnection if there is an exception

    +

    2.add serial file lock.

    +

    2018-05-14 version:1.3.3

    +

    1.add the heart function constraint.

    +

    2.add packet type with scan frequency support.

    +

    2018-04-16 version:1.3.2

    +

    1.add multithreading support.

    +

    2018-04-16 version:1.3.1

    +

    1.Compensate for each laser point timestamp.

    diff --git a/sdk/doc/html/md__home_yang_tmp_sdk_README.html b/sdk/doc/html/md__home_yang_tmp_sdk_README.html index e626db2..3e929b3 100644 --- a/sdk/doc/html/md__home_yang_tmp_sdk_README.html +++ b/sdk/doc/html/md__home_yang_tmp_sdk_README.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: YDLIDAR SDK PACKAGE V1.3.3 +YDLIDAR SDK: YDLIDAR SDK PACKAGE V1.3.4 @@ -22,10 +22,10 @@
    YDLIDAR SDK -  1.3.1 +  V1.3.6
    - + @@ -79,7 +79,7 @@
    -
    YDLIDAR SDK PACKAGE V1.3.3
    +
    YDLIDAR SDK PACKAGE V1.3.4

    SDK test application for YDLIDAR

    @@ -94,7 +94,8 @@

    How to run YDLIDAR SDK samples

    windows: 

    $ ydlidar_test.exe
 $Please enter the lidar port:COM3
 $Please enter the lidar baud rate:230400
-

    ===================================================================== You should see YDLIDAR's scan result in the console: 

    Yd Lidar running correctly ! The health status: good
+

    =====================================================================

    +

    You should see YDLIDAR's scan result in the console: 

    Yd Lidar running correctly ! The health status: good
 [YDLIDAR] Connection established in [/dev/ttyUSB0]:
 Firmware version: 2.0.9
 Hardware version: 2
@@ -106,7 +107,74 @@ 
    How to run YDLIDAR SDK samples 
    
 Scan received: 43 ranges
 Scan received: 1361 ranges
 Scan received: 1412 ranges
+

    Lidar point data structure

    +

    data structure: 

    struct node_info {
+
+   uint8_t    sync_quality;//!intensity
+
+   uint16_t   angle_q6_checkbit; //!angle
+
+   uint16_t   distance_q2; //! distance
+
+   uint64_t   stamp; //! time stamp
+
+   uint8_t    scan_frequence;//! current_frequence = scan_frequence/10.0, If the current value equals zero, it is an invalid value
+
+} __attribute__((packed)) ;
+

    example: 

    if(data[i].scan_frequence != 0) {
+
+    current_frequence = data[i].scan_frequence/10.0;
+}
+
+current_time_stamp = data[i].stamp;
+
+current_distance = data[i].distance_q2/4.f;
+
+current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);
+
+current_intensity = (float)(data[i].sync_quality >> 2);
+
+###note:current_frequence = data[0].scan_frequence/10.0.
+
+###if the current_frequence value equals zero, it is an invalid value.
+

    code: 

        void ParseScan(node_info* data, const size_t& size) {
+
+        double current_frequence, current_distance, current_angle, current_intensity;
+
+        uint64_t current_time_stamp;
+
+        for (size_t i = 0; i < size; i++ ) {
+
+            if( data[i].scan_frequence != 0) {
+
+                current_frequence =  data[i].scan_frequence;//or current_frequence = data[0].scan_frequence
+
+            }
+
+            current_time_stamp = data[i].stamp;
+
+            current_angle = ((data[i].angle_q6_checkbit>>LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);//LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT equals 8
+
+            current_distance =  data[i].distance_q2/4.f;
+
+            current_intensity = (float)(data[i].sync_quality >> 2);
+
+        }
+
+        if (current_frequence != 0 ) {
+
+            printf("current lidar scan frequency: %f\n", current_frequence);
+
+        } else {
+
+            printf("Current lidar does not support return scan frequency\n");
+
+        }
+    }

    Upgrade Log

    +

    2018-05-23 version:1.3.4

    +

    1.add automatic reconnection if there is an exception

    +

    2.add serial file lock.

    2018-05-14 version:1.3.3

    1.add the heart function constraint.

    2.add packet type with scan frequency support.

    diff --git a/sdk/doc/html/namespacemembers.html b/sdk/doc/html/namespacemembers.html index d6e186a..a51abc7 100644 --- a/sdk/doc/html/namespacemembers.html +++ b/sdk/doc/html/namespacemembers.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.4
    - diff --git a/sdk/doc/html/namespacemembers_enum.html b/sdk/doc/html/namespacemembers_enum.html index 974fbda..afc3daf 100644 --- a/sdk/doc/html/namespacemembers_enum.html +++ b/sdk/doc/html/namespacemembers_enum.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - diff --git a/sdk/doc/html/namespaces.html b/sdk/doc/html/namespaces.html index 411ea22..a672ebc 100644 --- a/sdk/doc/html/namespaces.html +++ b/sdk/doc/html/namespaces.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - diff --git a/sdk/doc/html/namespaceserial.html b/sdk/doc/html/namespaceserial.html index e06aeb6..5afa6f6 100644 --- a/sdk/doc/html/namespaceserial.html +++ b/sdk/doc/html/namespaceserial.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - diff --git a/sdk/doc/html/pages.html b/sdk/doc/html/pages.html index 10fd657..15d8ee7 100644 --- a/sdk/doc/html/pages.html +++ b/sdk/doc/html/pages.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -84,7 +83,7 @@
    Here is a list of all related documentation pages:
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - +
     YDLIDAR SDK PACKAGE V1.3.3
     YDLIDAR SDK PACKAGE V1.3.6
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['_5fpointt',['_POINTT',['../structline__feature_1_1___p_o_i_n_t_t.html',1,'line_feature']]], + ['_5fserial_5flock',['_serial_lock',['../classydlidar_1_1_y_dlidar_driver.html#ac1ace85f37283559d4f2bc2797eea900',1,'ydlidar::YDlidarDriver']]], ['_5fthread',['_thread',['../classydlidar_1_1_y_dlidar_driver.html#a9fbd1b3471c1aa4959d74524b9a92410',1,'ydlidar::YDlidarDriver']]] ]; diff --git a/sdk/doc/html/search/all_10.js b/sdk/doc/html/search/all_10.js index 8e9496c..28566eb 100644 --- a/sdk/doc/html/search/all_10.js +++ b/sdk/doc/html/search/all_10.js @@ -1,6 +1,7 @@ var searchData= [ ['sampling_5frate',['sampling_rate',['../structsampling__rate.html',1,'']]], + ['save_5fparsing',['save_parsing',['../classydlidar_1_1_y_dlidar_driver.html#a0f386d9157f5eaf3ab307f372e7355c9',1,'ydlidar::YDlidarDriver']]], ['scan_5fexposure',['scan_exposure',['../structscan__exposure.html',1,'']]], 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    +
    Loading...
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    + +
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    +
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    + +
    + + diff --git a/sdk/doc/html/search/variables_f.js b/sdk/doc/html/search/variables_f.js new file mode 100644 index 0000000..649dc1d --- /dev/null +++ b/sdk/doc/html/search/variables_f.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['x',['x',['../structpose__info.html#adc2c1d8e97954448b17a62c11094d676',1,'pose_info::x()'],['../structodom__info.html#a1181d663fd9608fbcc8f92bbb70af6d7',1,'odom_info::x()']]] +]; diff --git a/sdk/doc/html/serial_8h_source.html b/sdk/doc/html/serial_8h_source.html index 674f8e0..20bdf95 100644 --- a/sdk/doc/html/serial_8h_source.html +++ b/sdk/doc/html/serial_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/include/serial.h Source File +YDLIDAR SDK: include/serial.h Source File @@ -22,10 +22,9 @@ - diff --git a/sdk/doc/html/stdlib__imports_8hpp.html b/sdk/doc/html/stdlib__imports_8hpp.html new file mode 100644 index 0000000..6c34424 --- /dev/null +++ b/sdk/doc/html/stdlib__imports_8hpp.html @@ -0,0 +1,129 @@ + + + + + + +YDLIDAR SDK: matrix/matrix/stdlib_imports.hpp File Reference + + + + + + + + + + +
    +
    +
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    + + + + + + + +
    +
    + + +
    + +
    + + + +
    +
    +
    stdlib_imports.hpp File Reference
    +
    +
    +
    #include <cmath>
    +#include <cstdlib>
    +#include <cinttypes>
    +
    +Include dependency graph for stdlib_imports.hpp:
    +
    +
    +
    +
    +This graph shows which files directly or indirectly include this file:
    +
    +
    + + + + + + + + + + +
    +
    +

    Go to the source code of this file.

    +

    Detailed Description

    +

    This file is needed to shadow the C standard library math functions with ones provided by the C++ standard library. This way we can guarantee that unwanted functions from the C library will never creep back in unexpectedly.

    +
    Author
    Pavel Kirienko pavel.nosp@m..kir.nosp@m.ienko.nosp@m.@zub.nosp@m.ax.co.nosp@m.m
    +
    + +
    +Generated by   +doxygen + 1.8.11 +
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    +
    + + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    +
    + + + + + + +
    +
    + + +
    + +
    + + +
    +
    +
    +
    stdlib_imports.hpp
    +
    +
    +Go to the documentation of this file.
    1 
    10 #pragma once
    11 
    12 #include <cmath>
    13 #include <cstdlib>
    14 #include <cinttypes>
    15 
    16 namespace matrix {
    17 
    18 using std::abs;
    19 using std::div;
    20 using std::fabs;
    21 using std::fmod;
    22 using std::exp;
    23 using std::log;
    24 using std::log10;
    25 using std::pow;
    26 using std::sqrt;
    27 using std::sin;
    28 using std::cos;
    29 using std::tan;
    30 using std::asin;
    31 using std::acos;
    32 using std::atan;
    33 using std::atan2;
    34 using std::sinh;
    35 using std::cosh;
    36 using std::tanh;
    37 using std::ceil;
    38 using std::floor;
    39 using std::frexp;
    40 using std::ldexp;
    41 using std::modf;
    42 
    43 # if (__cplusplus >= 201103L)
    44 
    45 using std::imaxabs;
    46 using std::imaxdiv;
    47 using std::remainder;
    48 using std::remquo;
    49 using std::fma;
    50 using std::fmax;
    51 using std::fmin;
    52 using std::fdim;
    53 using std::nan;
    54 using std::nanf;
    55 using std::nanl;
    56 using std::exp2;
    57 using std::expm1;
    58 using std::log2;
    59 using std::log1p;
    60 using std::cbrt;
    61 using std::hypot;
    62 using std::asinh;
    63 using std::acosh;
    64 using std::atanh;
    65 using std::erf;
    66 using std::erfc;
    67 using std::tgamma;
    68 using std::lgamma;
    69 using std::trunc;
    70 using std::round;
    71 using std::nearbyint;
    72 using std::rint;
    73 using std::scalbn;
    74 using std::ilogb;
    75 using std::logb;
    76 using std::nextafter;
    77 using std::copysign;
    78 using std::fpclassify;
    79 using std::isfinite;
    80 using std::isinf;
    81 using std::isnan;
    82 using std::isnormal;
    83 using std::signbit;
    84 using std::isgreater;
    85 using std::isgreaterequal;
    86 using std::isless;
    87 using std::islessequal;
    88 using std::islessgreater;
    89 using std::isunordered;
    90 
    91 #endif
    92 
    93 }
    matrix
    Definition: helper_functions.hpp:5
    +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/struct_laser_config-members.html b/sdk/doc/html/struct_laser_config-members.html index 42e4779..30fa227 100644 --- a/sdk/doc/html/struct_laser_config-members.html +++ b/sdk/doc/html/struct_laser_config-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/struct_laser_config.html b/sdk/doc/html/struct_laser_config.html index 983d96d..85d38f9 100644 --- a/sdk/doc/html/struct_laser_config.html +++ b/sdk/doc/html/struct_laser_config.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -114,7 +114,7 @@ - + @@ -136,7 +136,7 @@

    Detailed Description

    A struct for returning configuration from the YDLIDAR.

    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/struct_laser_scan-members.html b/sdk/doc/html/struct_laser_scan-members.html index 146fdd6..783b3c7 100644 --- a/sdk/doc/html/struct_laser_scan-members.html +++ b/sdk/doc/html/struct_laser_scan-members.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    float time_increment
     Scan resoltuion [s].
     Scan resoltuion [ns].
     
    float scan_time
    - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/struct_laser_scan.html b/sdk/doc/html/struct_laser_scan.html index 0f8c828..1573d9b 100644 --- a/sdk/doc/html/struct_laser_scan.html +++ b/sdk/doc/html/struct_laser_scan.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -129,7 +129,7 @@

    Detailed Description

    A struct for returning laser readings from the YDLIDAR currentAngle = min_angle + ang_increment*index for( int i =0; i < ranges.size(); i++) { double currentAngle = config.min_angle + i*config.ang_increment; double currentDistance = ranges[i]; }

    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/struct_package_node-members.html b/sdk/doc/html/struct_package_node-members.html index c9d0560..798fc51 100644 --- a/sdk/doc/html/struct_package_node-members.html +++ b/sdk/doc/html/struct_package_node-members.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/struct_package_node.html b/sdk/doc/html/struct_package_node.html index 9e5c993..579beac 100644 --- a/sdk/doc/html/struct_package_node.html +++ b/sdk/doc/html/struct_package_node.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -103,7 +103,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/struct_point_cloud-members.html b/sdk/doc/html/struct_point_cloud-members.html new file mode 100644 index 0000000..3c98d6c --- /dev/null +++ b/sdk/doc/html/struct_point_cloud-members.html @@ -0,0 +1,105 @@ + + + + + + +YDLIDAR SDK: Member List + + + + + + + + + + +
    +
    + + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    +
    + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +
    PointCloud Member List
    +
    +
    + +

    This is the complete list of members for PointCloud, including all inherited members.

    + + + +
    pointsPointCloud
    system_time_stampPointCloud
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/struct_point_cloud.html b/sdk/doc/html/struct_point_cloud.html new file mode 100644 index 0000000..2145b74 --- /dev/null +++ b/sdk/doc/html/struct_point_cloud.html @@ -0,0 +1,118 @@ + + + + + + +YDLIDAR SDK: PointCloud Struct Reference + + + + + + + + + + +
    +
    + + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    +
    + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +Public Attributes | +List of all members
    +
    +
    PointCloud Struct Reference
    +
    +
    + + + + + + + + +

    +Public Attributes

    +std::vector< point_info > points
     Array of points.
     
    +uint64_t system_time_stamp
     System time when first range was measured in nanoseconds.
     
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    +double theta
     
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    +double m_y
     
    +double distance
     
    +double m_gradient
     
    +bool flag
     
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    This is the complete list of members for line_feature::CachedData, including all inherited members.

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    bearings (defined in line_feature::CachedData)line_feature::CachedData
    indices (defined in line_feature::CachedData)line_feature::CachedData
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structline__feature_1_1_cached_data.html b/sdk/doc/html/structline__feature_1_1_cached_data.html new file mode 100644 index 0000000..7d93493 --- /dev/null +++ b/sdk/doc/html/structline__feature_1_1_cached_data.html @@ -0,0 +1,120 @@ + + + + + + +YDLIDAR SDK: line_feature::CachedData Struct Reference + + + + + + + + + + +
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    +Public Attributes

    +std::vector< unsigned int > indices
     
    +std::vector< double > bearings
     
    +
    The documentation for this struct was generated from the following file: +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structline__feature_1_1_params-members.html b/sdk/doc/html/structline__feature_1_1_params-members.html new file mode 100644 index 0000000..ad26000 --- /dev/null +++ b/sdk/doc/html/structline__feature_1_1_params-members.html @@ -0,0 +1,121 @@ + + + + + + +YDLIDAR SDK: Member List + + + + + + + + + + +
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    line_feature::Params Member List
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    + + + + + + + + + + + + + + + +
    bearing_var (defined in line_feature::Params)line_feature::Params
    least_sq_angle_thresh (defined in line_feature::Params)line_feature::Params
    least_sq_radius_thresh (defined in line_feature::Params)line_feature::Params
    least_thresh (defined in line_feature::Params)line_feature::Params
    max_line_gap (defined in line_feature::Params)line_feature::Params
    max_point_distance (defined in line_feature::Params)line_feature::Params
    min_line_length (defined in line_feature::Params)line_feature::Params
    min_line_points (defined in line_feature::Params)line_feature::Params
    min_range (defined in line_feature::Params)line_feature::Params
    min_split_dist (defined in line_feature::Params)line_feature::Params
    outlier_dist (defined in line_feature::Params)line_feature::Params
    predict_distance (defined in line_feature::Params)line_feature::Params
    range_var (defined in line_feature::Params)line_feature::Params
    seed_line_points (defined in line_feature::Params)line_feature::Params
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structline__feature_1_1_params.html b/sdk/doc/html/structline__feature_1_1_params.html new file mode 100644 index 0000000..94e419c --- /dev/null +++ b/sdk/doc/html/structline__feature_1_1_params.html @@ -0,0 +1,156 @@ + + + + + + +YDLIDAR SDK: line_feature::Params Struct Reference + + + + + + + + + + +
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    +Public Attributes

    +double bearing_var
     
    +double range_var
     
    +double least_thresh
     
    +double least_sq_angle_thresh
     
    +double least_sq_radius_thresh
     
    +double max_line_gap
     
    +double min_line_length
     
    +double min_range
     
    +double min_split_dist
     
    +double outlier_dist
     
    +double max_point_distance
     
    +double predict_distance
     
    +unsigned int min_line_points
     
    +unsigned int seed_line_points
     
    +
    The documentation for this struct was generated from the following file: +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structline__feature_1_1_point_params-members.html b/sdk/doc/html/structline__feature_1_1_point_params-members.html new file mode 100644 index 0000000..6478a48 --- /dev/null +++ b/sdk/doc/html/structline__feature_1_1_point_params-members.html @@ -0,0 +1,115 @@ + + + + + + +YDLIDAR SDK: Member List + + + + + + + + + + +
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    line_feature::PointParams Member List
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    This is the complete list of members for line_feature::PointParams, including all inherited members.

    + + + + + + + + + +
    a (defined in line_feature::PointParams)line_feature::PointParams
    ap (defined in line_feature::PointParams)line_feature::PointParams
    app (defined in line_feature::PointParams)line_feature::PointParams
    b (defined in line_feature::PointParams)line_feature::PointParams
    bp (defined in line_feature::PointParams)line_feature::PointParams
    bpp (defined in line_feature::PointParams)line_feature::PointParams
    c (defined in line_feature::PointParams)line_feature::PointParams
    s (defined in line_feature::PointParams)line_feature::PointParams
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    line_feature::PointParams Struct Reference
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    +Public Attributes

    +std::vector< double > a
     
    +std::vector< double > ap
     
    +std::vector< double > app
     
    +std::vector< double > b
     
    +std::vector< double > bp
     
    +std::vector< double > bpp
     
    +std::vector< double > c
     
    +std::vector< double > s
     
    +
    The documentation for this struct was generated from the following file: +
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    line_feature::RangeData Member List
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    + + + + +
    ranges (defined in line_feature::RangeData)line_feature::RangeData
    xs (defined in line_feature::RangeData)line_feature::RangeData
    ys (defined in line_feature::RangeData)line_feature::RangeData
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structline__feature_1_1_range_data.html b/sdk/doc/html/structline__feature_1_1_range_data.html new file mode 100644 index 0000000..37f3e47 --- /dev/null +++ b/sdk/doc/html/structline__feature_1_1_range_data.html @@ -0,0 +1,123 @@ + + + + + + +YDLIDAR SDK: line_feature::RangeData Struct Reference + + + + + + + + + + +
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    YDLIDAR SDK +  V1.3.6 +
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    +Public Attributes

    +std::vector< double > ranges
     
    +std::vector< double > xs
     
    +std::vector< double > ys
     
    +
    The documentation for this struct was generated from the following file: +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structnode__info-members.html b/sdk/doc/html/structnode__info-members.html index 6eea9ec..43001d6 100644 --- a/sdk/doc/html/structnode__info-members.html +++ b/sdk/doc/html/structnode__info-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ @@ -93,9 +93,11 @@

    This is the complete list of members for node_info, including all inherited members.

    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - - - + + + + +
    angle_q6_checkbitnode_info
    distance_q2node_info
    scan_frequencenode_info
    stampnode_info
    current_odomnode_info
    distance_qnode_info
    scan_frequencenode_info
    stampnode_info
    sync_flag (defined in node_info)node_info
    sync_quality (defined in node_info)node_info
    diff --git a/sdk/doc/html/structnode__info.html b/sdk/doc/html/structnode__info.html index cc58b67..8102f84 100644 --- a/sdk/doc/html/structnode__info.html +++ b/sdk/doc/html/structnode__info.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ @@ -92,20 +92,31 @@
    node_info Struct Reference
    +
    +Collaboration diagram for node_info:
    +
    +
    Collaboration graph
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    [legend]
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - - + + + + - - - + + + @@ -114,9 +125,13 @@ uint8_t  + + +

    Public Attributes

    -uint8_t sync_quality
     
    +uint8_t sync_flag
     
    +uint16_t sync_quality
     
    uint16_t angle_q6_checkbit
     信号质量
     
    -uint16_t distance_q2
     测距点角度
     
    +uint16_t distance_q
     测距点角度
     
    uint64_t stamp
     当前测距点距离
    scan_frequence
     时间戳
     
    +odom_info current_odom
     特定版本此值才有效,无效值是0, 当前扫描频率current_frequence = scan_frequence/10.0
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structnode__info__coll__graph.map b/sdk/doc/html/structnode__info__coll__graph.map new file mode 100644 index 0000000..3976249 --- /dev/null +++ b/sdk/doc/html/structnode__info__coll__graph.map @@ -0,0 +1,3 @@ + + + diff --git a/sdk/doc/html/structnode__info__coll__graph.md5 b/sdk/doc/html/structnode__info__coll__graph.md5 new file mode 100644 index 0000000..ff0b2cd --- /dev/null +++ b/sdk/doc/html/structnode__info__coll__graph.md5 @@ -0,0 +1 @@ +12208dfd758a4252722d29a41613783c \ No newline at end of file diff --git a/sdk/doc/html/structnode__info__coll__graph.png b/sdk/doc/html/structnode__info__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..2bd71feeda5e0898a91458e66c865da1fbabbd4f GIT binary patch literal 3059 zcmZuzXH*kd6OD8TT}22jQbjaKl`2I#h>-{iOD_>=A`*%SL_!I$bVCm?F+FrJ%iL4HglR8;jZz zgY;FukRUCjRCma>6^kFt-Xf;Fdq&_8Kx*A3ui5(Fo=l8X7Vm z%gC#H&6w^#629`)=mT5T<8FW{CW11O0JL~lD8jrF7`zs9Qva~c%R#vvVr>FJi z)QdTU1^{~H!olw6yUAEATb*@0RxMz5bEdt!yIafC^IH9rsr9N~&c6nq%K8OR2# z+u-kCZQkiq10Zv91OOjG_9vELUa2hc_h7Kw-f&>W!|L$u?QJ{`hsw&%mQqv8o(w(m z8f^-Y5f>Lvwk#`}oU|(~E5p5er?9lAQL%sKao?>cMO@*=4J`}?Lx;=_TI2)q^5&x$ zIk*8t--XyJ2-a+A+X|4Rk1IGm4K2mveY~AleJ9;_F#5R5@%qn9zD0mYv~ud|rpd|4 zgQKG>ImJWnQu6Yta7vb5G`pa$RZD4UEP!cP6!gPcNl{THEV}72)=aXTVygw>=kN0R z%bSHVUB`x*yS=^es=pfiQ^rhAdS+&fNjgNk06JX|E#zwz+LxnZH_VU8%3=XPuVTE5 zpG3=yZ5Gw{v~Aon^!1e!5fv>M{)XLARaH$&ON-jw^*g4971B$nuYYd)L_|+F@T}W> zh$r@V5_JV*JioLwhk0P9t*1v{X-`U68zbQI^8r0QJzr~Ff%mUoT%=@2?=1DtRS+h( ziMfM1jrIBbV~gWvl0$9^zkkF?OI^PF(%jtKZD*0eU5ZJ-x_X4Z)9S%>uD9hG?1fwlK!C>j)K{M2)?SLGc6E@#Om|%g4pc z_FhAxA))GvXNtBfzHM38j=*c*^#Lq4>aOA61EL2PA{0mHT@HwX6K6yQqyvEqqLBF- zB30f40o$@kd|eZ*D5PO|H_Rtqd8L_pw}#Nyb(lW}sxYPZu{w3Tr8bmqikBfD9(paG zOtMDL>65Grz}?Iva$&@Hc28bc}b;4&n2mmoGPF%LMju59<@O~aRN zN@OE5*xDP8^QO8MX#t#ECCJmVt>8_tPd4;*b%`Y9Zb!-GQ}PsCBHWW^yEk25 z*;9!9klSIESBDhJJqc22b>T`1eNR6OL7yFP8Po4dHfAy_Skb-4O$P7GRB`*+Zxb@L zQacq(w)g@rJBK#+s<(5%JBp`b)aIVNh;aM9HkHydp1Lq%1Hd2ja&$}IF(8KrZUAe? zB;q8ZjH3Td$KP3TIZ`AneFCpzgCy69>4_nxVj~O@^o;+cPVQp4HkUH^yy4s7+ZC23 zwo&%fL-&l&^om80eK@D(x#|(mD^gOeR2E6j$Us|^S+=@>8pWMfAwL%X7#L<_W6MzT z0K{Y_Vv9q75j)q9TZTwOJbNrSPWs~u#7rB# z3mmRmTw7Cf&QXpuqDp(9rE znH(=BVWc0-Qf^M^nwS7bM@Ork&gnmL&_5$Qu&{7+Z~z?btu+;Skv7|aUx^6m-RByA z+W5@q3Ae4B-I6MjCAcigzl&UAhj`Cmx!(mHsaG`)Fnz!=vVKG&7l?oD8< z70S!(`-GG#5;P8Ri<(b15Nh51<8u+DJuKIIRO9*Xm2*rZc^zuMFDIaz#NM`l?yqs} zeL-|o8w?sp{d&s)S6zMYmCPbJK~PP{zdyLlWsK3Wwe{bwf0-{SH&x9k}J>rT|)a5G{-h=LHo+z*YfdgN@EZX$LYYS>>xIys@aXi=Cjy6afWfm_CCca9LVYZQxkpSdU zZg8ImHr3)ob_SWO-@HE=?B?#?ma7rGxmw#VqNKzVyuThf;MVbymhpyyLPWq+$fbdS zfd=Zg&5=iWGeZyTJ5e0B(0hCSt0T2tjqkIvKz;!MbL||Oey3YkrKPJwPo9&$9WLV% zp-?EG!t$F<9}HXe;4S-CQgRMmbBtAUpsbUV)8>5YT^imXbU6in`}S>GC9ly4Y5-hZ zT&9cC?b>=$CAWSoH{z|F==1uO)r36vB`bQ{$ZhUj&!oe zp9ZmA**={Jm=a7PlDUUetmxIj>q6gog@qH*XeM4(2GeXMHo$LVW57CVwj%SGgar0< zsGq;Ts=cI`n8W`1MBk&tYzmw=o{StsNF&TFwSVxOzj!fneB5SrjKINwI)}w#52&Q1)OIRFa_ z3)IdofsJ2@TAQ<5UBX?xG9-arRY~c@n`T2l`+45o{i!HHHGi - Logo
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structnode__package.html b/sdk/doc/html/structnode__package.html index 7d6f336..2b18dad 100644 --- a/sdk/doc/html/structnode__package.html +++ b/sdk/doc/html/structnode__package.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ @@ -126,7 +126,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structnode__packages-members.html b/sdk/doc/html/structnode__packages-members.html index ba9037a..2e9185b 100644 --- a/sdk/doc/html/structnode__packages-members.html +++ b/sdk/doc/html/structnode__packages-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structnode__packages.html b/sdk/doc/html/structnode__packages.html index 423c63a..65d779d 100644 --- a/sdk/doc/html/structnode__packages.html +++ b/sdk/doc/html/structnode__packages.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -118,7 +118,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structodom__info-members.html b/sdk/doc/html/structodom__info-members.html new file mode 100644 index 0000000..52ae032 --- /dev/null +++ b/sdk/doc/html/structodom__info-members.html @@ -0,0 +1,112 @@ + + + + + + +YDLIDAR SDK: Member List + + + + + + + + + + +
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    odom_info Member List
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    + + + + + + + + + + +
    dthodom_info
    dxodom_info
    dyodom_info
    phiodom_info
    stampodom_info
    vodom_info
    wodom_info
    xodom_info
    yodom_info
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structodom__info.html b/sdk/doc/html/structodom__info.html new file mode 100644 index 0000000..76f7e3f --- /dev/null +++ b/sdk/doc/html/structodom__info.html @@ -0,0 +1,146 @@ + + + + + + +YDLIDAR SDK: odom_info Struct Reference + + + + + + + + + + +
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    YDLIDAR SDK +  V1.3.6 +
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    +Public Attributes

    +uint64_t stamp
     时间戳
     
    +double x
     x位置
     
    +double y
     y位置
     
    +double phi
     角度方向
     
    +double v
     线速度
     
    +double w
     角速度
     
    +double dx
     x位置增量
     
    +double dy
     y位置增量
     
    +double dth
     方向增量
     
    +
    The documentation for this struct was generated from the following file: +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structpoint__info-members.html b/sdk/doc/html/structpoint__info-members.html new file mode 100644 index 0000000..bc89544 --- /dev/null +++ b/sdk/doc/html/structpoint__info-members.html @@ -0,0 +1,106 @@ + + + + + + +YDLIDAR SDK: Member List + + + + + + + + + + +
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    x (defined in point_info)point_info
    y (defined in point_info)point_info
    z (defined in point_info)point_info
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    +double x
     
    +double y
     
    +double z
     
    +
    The documentation for this struct was generated from the following file: +
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    +Generated by   +doxygen + 1.8.11 +
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    This is the complete list of members for pose_info, including all inherited members.

    + + + + + +
    phi (defined in pose_info)pose_info
    stamp (defined in pose_info)pose_info
    xpose_info
    y (defined in pose_info)pose_info
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structpose__info.html b/sdk/doc/html/structpose__info.html new file mode 100644 index 0000000..b7d0753 --- /dev/null +++ b/sdk/doc/html/structpose__info.html @@ -0,0 +1,123 @@ + + + + + + +YDLIDAR SDK: pose_info Struct Reference + + + + + + + + + + +
    +
    + + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    +
    + + + + + + +
    +
    + + +
    + +
    + +
    +
    +
    +Public Attributes | +List of all members
    +
    +
    pose_info Struct Reference
    +
    +
    + + + + + + + + + + + +

    +Public Attributes

    +uint64_t stamp
     
    +double x
     时间戳
     
    +double y
     
    +double phi
     
    +
    The documentation for this struct was generated from the following file: +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/structsampling__rate-members.html b/sdk/doc/html/structsampling__rate-members.html index 9a4bebf..741c4bc 100644 --- a/sdk/doc/html/structsampling__rate-members.html +++ b/sdk/doc/html/structsampling__rate-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structsampling__rate.html b/sdk/doc/html/structsampling__rate.html index 9316d7b..22a42c4 100644 --- a/sdk/doc/html/structsampling__rate.html +++ b/sdk/doc/html/structsampling__rate.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -101,7 +101,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structscan__exposure-members.html b/sdk/doc/html/structscan__exposure-members.html index bed1e81..8950c14 100644 --- a/sdk/doc/html/structscan__exposure-members.html +++ b/sdk/doc/html/structscan__exposure-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structscan__exposure.html b/sdk/doc/html/structscan__exposure.html index 6ff9051..b7031aa 100644 --- a/sdk/doc/html/structscan__exposure.html +++ b/sdk/doc/html/structscan__exposure.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -101,7 +101,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structscan__frequency-members.html b/sdk/doc/html/structscan__frequency-members.html index 77d9f0b..504aabc 100644 --- a/sdk/doc/html/structscan__frequency-members.html +++ b/sdk/doc/html/structscan__frequency-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structscan__frequency.html b/sdk/doc/html/structscan__frequency.html index 389d2d2..2d989f0 100644 --- a/sdk/doc/html/structscan__frequency.html +++ b/sdk/doc/html/structscan__frequency.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -101,7 +101,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structscan__heart__beat-members.html b/sdk/doc/html/structscan__heart__beat-members.html index b3740d3..7046afa 100644 --- a/sdk/doc/html/structscan__heart__beat-members.html +++ b/sdk/doc/html/structscan__heart__beat-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structscan__heart__beat.html b/sdk/doc/html/structscan__heart__beat.html index 81eb9f9..c80c603 100644 --- a/sdk/doc/html/structscan__heart__beat.html +++ b/sdk/doc/html/structscan__heart__beat.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -101,7 +101,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structscan__points-members.html b/sdk/doc/html/structscan__points-members.html index 7561afa..6d3e398 100644 --- a/sdk/doc/html/structscan__points-members.html +++ b/sdk/doc/html/structscan__points-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structscan__points.html b/sdk/doc/html/structscan__points.html index 1ee71be..a4aab45 100644 --- a/sdk/doc/html/structscan__points.html +++ b/sdk/doc/html/structscan__points.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -100,7 +100,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structscan__rotation-members.html b/sdk/doc/html/structscan__rotation-members.html index b670aae..41b664d 100644 --- a/sdk/doc/html/structscan__rotation-members.html +++ b/sdk/doc/html/structscan__rotation-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structscan__rotation.html b/sdk/doc/html/structscan__rotation.html index 83c7106..86b8579 100644 --- a/sdk/doc/html/structscan__rotation.html +++ b/sdk/doc/html/structscan__rotation.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -100,7 +100,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structscan_dot-members.html b/sdk/doc/html/structscan_dot-members.html index af62691..01a23f1 100644 --- a/sdk/doc/html/structscan_dot-members.html +++ b/sdk/doc/html/structscan_dot-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structscan_dot.html b/sdk/doc/html/structscan_dot.html index bd6ff3c..16e60bc 100644 --- a/sdk/doc/html/structscan_dot.html +++ b/sdk/doc/html/structscan_dot.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -106,7 +106,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structserial_1_1_port_info-members.html b/sdk/doc/html/structserial_1_1_port_info-members.html index 5f5df17..2e57d22 100644 --- a/sdk/doc/html/structserial_1_1_port_info-members.html +++ b/sdk/doc/html/structserial_1_1_port_info-members.html @@ -22,10 +22,9 @@ - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structserial_1_1_port_info.html b/sdk/doc/html/structserial_1_1_port_info.html index 76290c5..1f89c61 100644 --- a/sdk/doc/html/structserial_1_1_port_info.html +++ b/sdk/doc/html/structserial_1_1_port_info.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -156,7 +156,7 @@
    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structserial_1_1_timeout-members.html b/sdk/doc/html/structserial_1_1_timeout-members.html index fe897b3..53fce16 100644 --- a/sdk/doc/html/structserial_1_1_timeout-members.html +++ b/sdk/doc/html/structserial_1_1_timeout-members.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structserial_1_1_timeout.html b/sdk/doc/html/structserial_1_1_timeout.html index e8bcd1b..35f4d56 100644 --- a/sdk/doc/html/structserial_1_1_timeout.html +++ b/sdk/doc/html/structserial_1_1_timeout.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -231,7 +231,7 @@

    Member Data Documentation

    The documentation for this struct was generated from the following file: diff --git a/sdk/doc/html/structserial_1_1termios2-members.html b/sdk/doc/html/structserial_1_1termios2-members.html index e29027c..1fa2f99 100644 --- a/sdk/doc/html/structserial_1_1termios2-members.html +++ b/sdk/doc/html/structserial_1_1termios2-members.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ diff --git a/sdk/doc/html/structserial_1_1termios2.html b/sdk/doc/html/structserial_1_1termios2.html index 61df2a8..818cec3 100644 --- a/sdk/doc/html/structserial_1_1termios2.html +++ b/sdk/doc/html/structserial_1_1termios2.html @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -66,6 +65,7 @@ @@ -125,7 +125,7 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
     
    The documentation for this struct was generated from the following file:
      -
    • /home/yang/tmp/sdk/src/impl/unix/unix_serial.cpp
      • +
    • src/impl/unix/unix_serial.cpp
    diff --git a/sdk/doc/html/thread_8h_source.html b/sdk/doc/html/thread_8h_source.html index b484e9b..1d653f4 100644 --- a/sdk/doc/html/thread_8h_source.html +++ b/sdk/doc/html/thread_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/include/thread.h Source File +YDLIDAR SDK: include/thread.h Source File @@ -22,10 +22,9 @@ - diff --git a/sdk/doc/html/timer_8h_source.html b/sdk/doc/html/timer_8h_source.html index 2c3af8c..d2839c0 100644 --- a/sdk/doc/html/timer_8h_source.html +++ b/sdk/doc/html/timer_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/include/timer.h Source File +YDLIDAR SDK: include/timer.h Source File @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - diff --git a/sdk/doc/html/unix_8h_source.html b/sdk/doc/html/unix_8h_source.html index cbaf001..ebfe034 100644 --- a/sdk/doc/html/unix_8h_source.html +++ b/sdk/doc/html/unix_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/src/impl/unix/unix.h Source File +YDLIDAR SDK: src/impl/unix/unix.h Source File @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - diff --git a/sdk/doc/html/unix__serial_8h_source.html b/sdk/doc/html/unix__serial_8h_source.html index 87e5516..c625648 100644 --- a/sdk/doc/html/unix__serial_8h_source.html +++ b/sdk/doc/html/unix__serial_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/src/impl/unix/unix_serial.h Source File +YDLIDAR SDK: src/impl/unix/unix_serial.h Source File @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -91,7 +90,7 @@
    unix_serial.h
    -
    1 #if !defined(_WIN32)
    2 
    3 #ifndef SERIAL_IMPL_UNIX_H
    4 #define SERIAL_IMPL_UNIX_H
    5 
    6 #include <pthread.h>
    7 #include <assert.h>
    8 #include <termios.h>
    9 #include "serial.h"
    10 
    11 namespace serial {
    12 
    13  using std::size_t;
    14  using std::string;
    15 
    16 
    17  class MillisecondTimer {
    18  public:
    19  explicit MillisecondTimer(const uint32_t millis);
    20  int64_t remaining();
    21 
    22  private:
    23  static timespec timespec_now();
    24  timespec expiry;
    25  };
    26 
    27  class serial::Serial::SerialImpl {
    28  public:
    29  explicit SerialImpl (const string &port,
    30  unsigned long baudrate,
    31  bytesize_t bytesize,
    32  parity_t parity,
    33  stopbits_t stopbits,
    34  flowcontrol_t flowcontrol);
    35 
    36  virtual ~SerialImpl ();
    37 
    38  bool open ();
    39 
    40  void close ();
    41 
    42  bool isOpen () const;
    43 
    44  size_t available ();
    45 
    46  bool waitReadable (uint32_t timeout);
    47 
    48  void waitByteTimes (size_t count);
    49 
    50  int waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size);
    51 
    52  size_t read (uint8_t *buf, size_t size = 1);
    53 
    54  size_t write (const uint8_t *data, size_t length);
    55 
    56 
    57  void flush ();
    58 
    59  void flushInput ();
    60 
    61  void flushOutput ();
    62 
    63  void sendBreak (int duration);
    64 
    65  bool setBreak (bool level);
    66 
    67  bool setRTS (bool level);
    68 
    69  bool setDTR (bool level);
    70 
    71  bool waitForChange ();
    72 
    73  bool getCTS ();
    74 
    75  bool getDSR ();
    76 
    77  bool getRI ();
    78 
    79  bool getCD ();
    80 
    81  uint32_t getByteTime();
    82 
    83  void setPort (const string &port);
    84 
    85  string getPort () const;
    86 
    87  void setTimeout (Timeout &timeout);
    88 
    89  Timeout getTimeout () const;
    90 
    91  bool setBaudrate (unsigned long baudrate);
    92 
    93  bool setStandardBaudRate(speed_t baudrate);
    94 
    95  bool setCustomBaudRate(unsigned long baudrate);
    96 
    97  unsigned long getBaudrate () const;
    98 
    99  bool setBytesize (bytesize_t bytesize);
    100 
    101  bytesize_t getBytesize () const;
    102 
    103  bool setParity (parity_t parity);
    104 
    105  parity_t getParity () const;
    106 
    107  bool setStopbits (stopbits_t stopbits);
    108 
    109  stopbits_t getStopbits () const;
    110 
    111  bool setFlowcontrol (flowcontrol_t flowcontrol);
    112 
    113  flowcontrol_t getFlowcontrol () const;
    114 
    115  bool setTermios(const termios *tio);
    116 
    117  bool getTermios(termios *tio);
    118 
    119  int readLock ();
    120 
    121  int readUnlock ();
    122 
    123  int writeLock ();
    124 
    125  int writeUnlock ();
    126 
    127 
    128  private:
    129  string port_; // Path to the file descriptor
    130  int fd_; // The current file descriptor
    131 
    132  bool is_open_;
    133  bool xonxoff_;
    134  bool rtscts_;
    135 
    136  Timeout timeout_; // Timeout for read operations
    137  unsigned long baudrate_; // Baudrate
    138  uint32_t byte_time_ns_; // Nanoseconds to transmit/receive a single byte
    139 
    140  parity_t parity_; // Parity
    141  bytesize_t bytesize_; // Size of the bytes
    142  stopbits_t stopbits_; // Stop Bits
    143  flowcontrol_t flowcontrol_; // Flow Control
    144 
    145  // Mutex used to lock the read functions
    146  pthread_mutex_t read_mutex;
    147  // Mutex used to lock the write functions
    148  pthread_mutex_t write_mutex;
    149  };
    150 
    151 }
    152 
    153 #endif // SERIAL_IMPL_UNIX_H
    154 
    155 #endif // !defined(_WIN32)
    serial::MillisecondTimer
    Definition: unix_serial.h:17
    +
    1 #if !defined(_WIN32)
    2 
    3 #ifndef SERIAL_IMPL_UNIX_H
    4 #define SERIAL_IMPL_UNIX_H
    5 
    6 #include <pthread.h>
    7 #include <assert.h>
    8 #include <termios.h>
    9 #include "serial.h"
    10 
    11 namespace serial {
    12 
    13  using std::size_t;
    14  using std::string;
    15 
    16 
    17  class MillisecondTimer {
    18  public:
    19  explicit MillisecondTimer(const uint32_t millis);
    20  int64_t remaining();
    21 
    22  private:
    23  static timespec timespec_now();
    24  timespec expiry;
    25  };
    26 
    27  class serial::Serial::SerialImpl {
    28  public:
    29  explicit SerialImpl (const string &port,
    30  unsigned long baudrate,
    31  bytesize_t bytesize,
    32  parity_t parity,
    33  stopbits_t stopbits,
    34  flowcontrol_t flowcontrol);
    35 
    36  virtual ~SerialImpl ();
    37 
    38  bool open ();
    39 
    40  void close ();
    41 
    42  bool isOpen () const;
    43 
    44  size_t available ();
    45 
    46  bool waitReadable (uint32_t timeout);
    47 
    48  void waitByteTimes (size_t count);
    49 
    50  int waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size);
    51 
    52  size_t read (uint8_t *buf, size_t size = 1);
    53 
    54  size_t write (const uint8_t *data, size_t length);
    55 
    56 
    57  void flush ();
    58 
    59  void flushInput ();
    60 
    61  void flushOutput ();
    62 
    63  void sendBreak (int duration);
    64 
    65  bool setBreak (bool level);
    66 
    67  bool setRTS (bool level);
    68 
    69  bool setDTR (bool level);
    70 
    71  bool waitForChange ();
    72 
    73  bool getCTS ();
    74 
    75  bool getDSR ();
    76 
    77  bool getRI ();
    78 
    79  bool getCD ();
    80 
    81  uint32_t getByteTime();
    82 
    83  void setPort (const string &port);
    84 
    85  string getPort () const;
    86 
    87  void setTimeout (Timeout &timeout);
    88 
    89  Timeout getTimeout () const;
    90 
    91  bool setBaudrate (unsigned long baudrate);
    92 
    93  bool setStandardBaudRate(speed_t baudrate);
    94 
    95  bool setCustomBaudRate(unsigned long baudrate);
    96 
    97  unsigned long getBaudrate () const;
    98 
    99  bool setBytesize (bytesize_t bytesize);
    100 
    101  bytesize_t getBytesize () const;
    102 
    103  bool setParity (parity_t parity);
    104 
    105  parity_t getParity () const;
    106 
    107  bool setStopbits (stopbits_t stopbits);
    108 
    109  stopbits_t getStopbits () const;
    110 
    111  bool setFlowcontrol (flowcontrol_t flowcontrol);
    112 
    113  flowcontrol_t getFlowcontrol () const;
    114 
    115  bool setTermios(const termios *tio);
    116 
    117  bool getTermios(termios *tio);
    118 
    119  int readLock ();
    120 
    121  int readUnlock ();
    122 
    123  int writeLock ();
    124 
    125  int writeUnlock ();
    126 
    127 
    128  private:
    129  string port_; // Path to the file descriptor
    130  int fd_; // The current file descriptor
    131  pid_t pid;
    132 
    133  bool is_open_;
    134  bool xonxoff_;
    135  bool rtscts_;
    136 
    137  Timeout timeout_; // Timeout for read operations
    138  unsigned long baudrate_; // Baudrate
    139  uint32_t byte_time_ns_; // Nanoseconds to transmit/receive a single byte
    140 
    141  parity_t parity_; // Parity
    142  bytesize_t bytesize_; // Size of the bytes
    143  stopbits_t stopbits_; // Stop Bits
    144  flowcontrol_t flowcontrol_; // Flow Control
    145 
    146  // Mutex used to lock the read functions
    147  pthread_mutex_t read_mutex;
    148  // Mutex used to lock the write functions
    149  pthread_mutex_t write_mutex;
    150  };
    151 
    152 }
    153 
    154 #endif // SERIAL_IMPL_UNIX_H
    155 
    156 #endif // !defined(_WIN32)
    serial::MillisecondTimer
    Definition: unix_serial.h:17
    serial::parity_t
    parity_t
    Definition: serial.h:26
    serial::bytesize_t
    bytesize_t
    Definition: serial.h:16
    serial
    Definition: serial.h:11
    diff --git a/sdk/doc/html/utilities_8h_source.html b/sdk/doc/html/utilities_8h_source.html new file mode 100644 index 0000000..1d2005b --- /dev/null +++ b/sdk/doc/html/utilities_8h_source.html @@ -0,0 +1,111 @@ + + + + + + +YDLIDAR SDK: include/utilities.h Source File + + + + + + + + + + +
    +
    +
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    + + + + + +
    +
    YDLIDAR SDK +  V1.3.6 +
    +
    + + + + + + + +
    +
    + + +
    + +
    + + + +
    +
    +
    utilities.h
    +
    +
    +
    1 #ifndef LINE_EXTRACTION_UTILITIES_H
    2 #define LINE_EXTRACTION_UTILITIES_H
    3 
    4 #include <cmath>
    5 #include <vector>
    6 
    7 #define distance_point(a1,a2,b1,b2) sqrt((a1-b1)*(a1-b1)+(a2-b2)*(a2-b2))
    8 
    9 
    10 namespace line_feature
    11 {
    12 
    13 typedef struct _POINTT
    14 {
    15  double x;
    16  double y;
    17 }POINTT;
    18 
    19 struct CachedData
    20 {
    21  std::vector<unsigned int> indices;
    22  std::vector<double> bearings;
    23 };
    24 
    25 struct RangeData
    26 {
    27  std::vector<double> ranges;
    28  std::vector<double> xs;
    29  std::vector<double> ys;
    30 };
    31 
    32 struct Params
    33 {
    34  double bearing_var;
    35  double range_var;
    36  double least_thresh;
    37  double least_sq_angle_thresh;
    38  double least_sq_radius_thresh;
    39  double max_line_gap;
    40  double min_line_length;
    41  double min_range;
    42  double min_split_dist;
    43  double outlier_dist;
    44  double max_point_distance;
    45  double predict_distance;
    46  unsigned int min_line_points;
    47  unsigned int seed_line_points;
    48 
    49 };
    50 
    51 
    52 struct PointParams
    53 {
    54  std::vector<double> a;
    55  std::vector<double> ap;
    56  std::vector<double> app;
    57  std::vector<double> b;
    58  std::vector<double> bp;
    59  std::vector<double> bpp;
    60  std::vector<double> c;
    61  std::vector<double> s;
    62 };
    63 
    64 typedef struct _line
    65 {
    66  double a;
    67  double b;
    68  double c;
    69  int left;
    70  int right;
    71  POINTT p1;
    72  POINTT p2;
    73  bool inte[2];
    74 }line;
    75 
    76 
    77 typedef struct _least
    78 {
    79  double a;
    80  double b;
    81  double c;
    82 }least;
    83 
    84 
    85 typedef struct _point
    86 {
    87  double role;
    88  double theta;
    89  double m_x;
    90  double m_y;
    91  double distance;
    92  double m_gradient;
    93  bool flag;
    94 }PoinT;
    95 
    96 
    97 typedef struct _generate_line
    98 {
    99  //first point
    100  double x1;
    101  double y1;
    102  //end point
    103  double x2;
    104  double y2;
    105 
    106  double distance;
    107  double angle;
    108 }gline;
    109 
    110 inline double pi_to_pi(double angle)
    111 {
    112  angle = fmod(angle, 2 * M_PI);
    113  if (angle >= M_PI)
    114  angle -= 2 * M_PI;
    115  return angle;
    116 }
    117 
    118 } // namespace line_extraction
    119 
    120 #endif
    line_feature::RangeData
    Definition: utilities.h:25
    +
    line_feature::_POINTT
    Definition: utilities.h:13
    +
    line_feature::CachedData
    Definition: utilities.h:19
    +
    line_feature::_line
    Definition: utilities.h:64
    +
    line_feature::Params
    Definition: utilities.h:32
    +
    line_feature::_least
    Definition: utilities.h:77
    +
    line_feature::PointParams
    Definition: utilities.h:52
    +
    line_feature::_point
    Definition: utilities.h:85
    +
    line_feature
    Definition: line_feature.h:10
    +
    line_feature::_generate_line
    Definition: utilities.h:97
    +
    + +
    +Generated by   +doxygen + 1.8.11 +
    + + diff --git a/sdk/doc/html/utils_8h_source.html b/sdk/doc/html/utils_8h_source.html index 2eac990..8f575ef 100644 --- a/sdk/doc/html/utils_8h_source.html +++ b/sdk/doc/html/utils_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/include/utils.h Source File +YDLIDAR SDK: include/utils.h Source File @@ -22,10 +22,9 @@ - diff --git a/sdk/doc/html/v8stdint_8h_source.html b/sdk/doc/html/v8stdint_8h_source.html index 8211d91..a94821b 100644 --- a/sdk/doc/html/v8stdint_8h_source.html +++ b/sdk/doc/html/v8stdint_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/include/v8stdint.h Source File +YDLIDAR SDK: include/v8stdint.h Source File @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - diff --git a/sdk/doc/html/win_8h_source.html b/sdk/doc/html/win_8h_source.html index 314ab75..e2780b7 100644 --- a/sdk/doc/html/win_8h_source.html +++ b/sdk/doc/html/win_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/src/impl/windows/win.h Source File +YDLIDAR SDK: src/impl/windows/win.h Source File @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - diff --git a/sdk/doc/html/win__serial_8h_source.html b/sdk/doc/html/win__serial_8h_source.html index cf5d5fa..3efaadb 100644 --- a/sdk/doc/html/win__serial_8h_source.html +++ b/sdk/doc/html/win__serial_8h_source.html @@ -4,7 +4,7 @@ -YDLIDAR SDK: /home/yang/tmp/sdk/src/impl/windows/win_serial.h Source File +YDLIDAR SDK: src/impl/windows/win_serial.h Source File @@ -22,10 +22,9 @@
    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -94,7 +93,7 @@
    1 #if defined(_WIN32)
    2 
    3 #ifndef SERIAL_IMPL_WINDOWS_H
    4 #define SERIAL_IMPL_WINDOWS_H
    5 
    6 #include "serial.h"
    7 #include "time.h"
    8 #include <tchar.h>
    9 
    10 #ifndef UNICODE
    11 #define UNICODE
    12 #define UNICODE_WAS_UNDEFINED
    13 #endif
    14 #include "windows.h"
    15 
    16 #ifndef UNICODE_WAS_UNDEFINED
    17 #undef UNICODE
    18 #endif
    19 
    20 namespace serial {
    21 
    22  using std::string;
    23  using std::wstring;
    24  using std::invalid_argument;
    25 
    26 
    27  class serial::Serial::SerialImpl {
    28  public:
    29  explicit SerialImpl (const string &port,
    30  unsigned long baudrate,
    31  bytesize_t bytesize,
    32  parity_t parity,
    33  stopbits_t stopbits,
    34  flowcontrol_t flowcontrol);
    35 
    36  virtual ~SerialImpl ();
    37 
    38  bool open ();
    39 
    40  void close ();
    41 
    42  bool isOpen () const;
    43 
    44  size_t available ();
    45 
    46  bool waitReadable (uint32_t timeout);
    47 
    48  void waitByteTimes (size_t count);
    49 
    50  int waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size);
    51 
    52  size_t read (uint8_t *buf, size_t size = 1);
    53 
    54  size_t write (const uint8_t *data, size_t length);
    55 
    56  void flush ();
    57 
    58  void flushInput ();
    59 
    60  void flushOutput ();
    61 
    62  void sendBreak (int duration);
    63 
    64  bool setBreak (bool level);
    65 
    66  bool setRTS (bool level);
    67 
    68  bool setDTR (bool level);
    69 
    70  bool waitForChange ();
    71 
    72  bool getCTS ();
    73 
    74  bool getDSR ();
    75 
    76  bool getRI ();
    77 
    78  bool getCD ();
    79 
    80  uint32_t getByteTime();
    81 
    82  void setPort (const string &port);
    83 
    84  string getPort () const;
    85 
    86  void setTimeout (Timeout &timeout);
    87 
    88  Timeout getTimeout () const;
    89 
    90  bool setBaudrate (unsigned long baudrate);
    91 
    92  unsigned long getBaudrate () const;
    93 
    94  bool setBytesize (bytesize_t bytesize);
    95 
    96  bytesize_t getBytesize () const;
    97 
    98  bool setParity (parity_t parity);
    99 
    100  parity_t getParity () const;
    101 
    102  bool setStopbits (stopbits_t stopbits);
    103 
    104  stopbits_t getStopbits () const;
    105 
    106  bool setFlowcontrol (flowcontrol_t flowcontrol);
    107 
    108  flowcontrol_t getFlowcontrol () const;
    109 
    110 
    111  bool setDcb(DCB *dcb);
    112 
    113 
    114  bool getDcb(DCB *dcb);
    115 
    116  int readLock ();
    117 
    118  int readUnlock ();
    119 
    120  int writeLock ();
    121 
    122  int writeUnlock ();
    123 
    124  protected:
    125  bool reconfigurePort ();
    126 
    127  public:
    128  enum {
    129  DEFAULT_RX_BUFFER_SIZE = 2048,
    130  DEFAULT_TX_BUFFER_SIZE = 128,
    131  };
    132 
    133 
    134  private:
    135  wstring port_; // Path to the file descriptor
    136  HANDLE fd_;
    137  OVERLAPPED _wait_o;
    138 
    139  OVERLAPPED communicationOverlapped;
    140  OVERLAPPED readCompletionOverlapped;
    141  OVERLAPPED writeCompletionOverlapped;
    142  DWORD originalEventMask;
    143  DWORD triggeredEventMask;
    144 
    145  COMMTIMEOUTS currentCommTimeouts;
    146  COMMTIMEOUTS restoredCommTimeouts;
    147 
    148  bool is_open_;
    149 
    150  Timeout timeout_; // Timeout for read operations
    151  unsigned long baudrate_; // Baudrate
    152  uint32_t byte_time_ns_; // Nanoseconds to transmit/receive a single byte
    153 
    154  parity_t parity_; // Parity
    155  bytesize_t bytesize_; // Size of the bytes
    156  stopbits_t stopbits_; // Stop Bits
    157  flowcontrol_t flowcontrol_; // Flow Control
    158 
    159  // Mutex used to lock the read functions
    160  HANDLE read_mutex;
    161  // Mutex used to lock the write functions
    162  HANDLE write_mutex;
    163  };
    164 
    165 }
    166 
    167 #endif // SERIAL_IMPL_WINDOWS_H
    168 
    169 #endif // if defined(_WIN32)
    serial::parity_t
    parity_t
    Definition: serial.h:26
    serial::bytesize_t
    bytesize_t
    Definition: serial.h:16
    serial
    Definition: serial.h:11
    -
    serial::Serial::SerialImpl::write
    size_t write(const uint8_t *data, size_t length)
    Definition: unix_serial.cpp:777
    +
    serial::Serial::SerialImpl::write
    size_t write(const uint8_t *data, size_t length)
    Definition: unix_serial.cpp:789
    serial::stopbits_t
    stopbits_t
    Definition: serial.h:37
    serial::Serial::SerialImpl
    Definition: unix_serial.h:27
    serial::flowcontrol_t
    flowcontrol_t
    Definition: serial.h:46
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    YDLIDAR SDK -  V1.3.3 +  V1.3.6
    - @@ -91,65 +90,87 @@
    ydlidar_driver.h
    -
    1 #ifndef YDLIDAR_DRIVER_H
    2 #define YDLIDAR_DRIVER_H
    3 #include <stdlib.h>
    4 #include <atomic>
    5 #include "locker.h"
    6 #include "serial.h"
    7 #include "thread.h"
    8 
    9 #if !defined(__cplusplus)
    10 #ifndef __cplusplus
    11 #error "The YDLIDAR SDK requires a C++ compiler to be built"
    12 #endif
    13 #endif
    14 #if !defined(_countof)
    15 #define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
    16 #endif
    17 
    18 #ifndef M_PI
    19 #define M_PI 3.1415926
    20 #endif
    21 
    22 #define LIDAR_CMD_STOP 0x65
    23 #define LIDAR_CMD_SCAN 0x60
    24 #define LIDAR_CMD_FORCE_SCAN 0x61
    25 #define LIDAR_CMD_RESET 0x80
    26 #define LIDAR_CMD_FORCE_STOP 0x00
    27 #define LIDAR_CMD_GET_EAI 0x55
    28 #define LIDAR_CMD_GET_DEVICE_INFO 0x90
    29 #define LIDAR_CMD_GET_DEVICE_HEALTH 0x92
    30 #define LIDAR_ANS_TYPE_DEVINFO 0x4
    31 #define LIDAR_ANS_TYPE_DEVHEALTH 0x6
    32 #define LIDAR_CMD_SYNC_BYTE 0xA5
    33 #define LIDAR_CMDFLAG_HAS_PAYLOAD 0x80
    34 #define LIDAR_ANS_SYNC_BYTE1 0xA5
    35 #define LIDAR_ANS_SYNC_BYTE2 0x5A
    36 #define LIDAR_ANS_TYPE_MEASUREMENT 0x81
    37 #define LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
    38 #define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
    39 #define LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
    40 #define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
    41 
    42 #define LIDAR_CMD_RUN_POSITIVE 0x06
    43 #define LIDAR_CMD_RUN_INVERSION 0x07
    44 #define LIDAR_CMD_SET_AIMSPEED_ADDMIC 0x09
    45 #define LIDAR_CMD_SET_AIMSPEED_DISMIC 0x0A
    46 #define LIDAR_CMD_SET_AIMSPEED_ADD 0x0B
    47 #define LIDAR_CMD_SET_AIMSPEED_DIS 0x0C
    48 #define LIDAR_CMD_GET_AIMSPEED 0x0D
    49 
    50 #define LIDAR_CMD_SET_SAMPLING_RATE 0xD0
    51 #define LIDAR_CMD_GET_SAMPLING_RATE 0xD1
    52 #define LIDAR_STATUS_OK 0x0
    53 #define LIDAR_STATUS_WARNING 0x1
    54 #define LIDAR_STATUS_ERROR 0x2
    55 
    56 #define LIDAR_CMD_ENABLE_LOW_POWER 0x01
    57 #define LIDAR_CMD_DISABLE_LOW_POWER 0x02
    58 #define LIDAR_CMD_STATE_MODEL_MOTOR 0x05
    59 #define LIDAR_CMD_ENABLE_CONST_FREQ 0x0E
    60 #define LIDAR_CMD_DISABLE_CONST_FREQ 0x0F
    61 
    62 #define LIDAR_CMD_SAVE_SET_EXPOSURE 0x94
    63 #define LIDAR_CMD_SET_LOW_EXPOSURE 0x95
    64 #define LIDAR_CMD_ADD_EXPOSURE 0x96
    65 #define LIDAR_CMD_DIS_EXPOSURE 0x97
    66 
    67 #define LIDAR_CMD_SET_HEART_BEAT 0xD9
    68 #define LIDAR_CMD_SET_SETPOINTSFORONERINGFLAG 0xae
    69 
    70 #define PackageSampleMaxLngth 0x100
    71 typedef enum {
    72  CT_Normal = 0,
    73  CT_RingStart = 1,
    74  CT_Tail,
    75 }CT;
    76 #define Node_Default_Quality (10<<2)
    77 #define Node_Sync 1
    78 #define Node_NotSync 2
    79 #define PackagePaidBytes 10
    80 #define PH 0x55AA
    81 
    82 #if defined(_WIN32)
    83 #pragma pack(1)
    84 #endif
    85 
    86 struct node_info {
    87  uint8_t sync_quality;
    88  uint16_t angle_q6_checkbit;
    89  uint16_t distance_q2;
    90  uint64_t stamp;
    91  uint8_t scan_frequence;
    92 } __attribute__((packed)) ;
    93 
    94 struct PackageNode {
    95  uint8_t PakageSampleQuality;
    96  uint16_t PakageSampleDistance;
    97 }__attribute__((packed));
    98 
    99 struct node_package {
    100  uint16_t package_Head;
    101  uint8_t package_CT;
    102  uint8_t nowPackageNum;
    103  uint16_t packageFirstSampleAngle;
    104  uint16_t packageLastSampleAngle;
    105  uint16_t checkSum;
    106  PackageNode packageSample[PackageSampleMaxLngth];
    107 } __attribute__((packed)) ;
    108 
    109 struct node_packages {
    110  uint16_t package_Head;
    111  uint8_t package_CT;
    112  uint8_t nowPackageNum;
    113  uint16_t packageFirstSampleAngle;
    114  uint16_t packageLastSampleAngle;
    115  uint16_t checkSum;
    116  uint16_t packageSampleDistance[PackageSampleMaxLngth];
    117 } __attribute__((packed)) ;
    118 
    119 
    120 struct device_info{
    121  uint8_t model;
    122  uint16_t firmware_version;
    123  uint8_t hardware_version;
    124  uint8_t serialnum[16];
    125 } __attribute__((packed)) ;
    126 
    127 struct device_health {
    128  uint8_t status;
    129  uint16_t error_code;
    130 } __attribute__((packed)) ;
    131 
    132 struct sampling_rate {
    133  uint8_t rate;
    134 } __attribute__((packed)) ;
    135 
    136 struct scan_frequency {
    137  uint32_t frequency;
    138 } __attribute__((packed)) ;
    139 
    140 struct scan_rotation {
    141  uint8_t rotation;
    142 } __attribute__((packed)) ;
    143 
    144 struct scan_exposure {
    145  uint8_t exposure;
    146 } __attribute__((packed)) ;
    147 
    148 struct scan_heart_beat {
    149  uint8_t enable;
    150 } __attribute__((packed));
    151 
    152 struct scan_points {
    153  uint8_t flag;
    154 } __attribute__((packed)) ;
    155 
    156 struct function_state {
    157  uint8_t state;
    158 } __attribute__((packed)) ;
    159 
    160 struct cmd_packet {
    161  uint8_t syncByte;
    162  uint8_t cmd_flag;
    163  uint8_t size;
    164  uint8_t data;
    165 } __attribute__((packed)) ;
    166 
    167 struct lidar_ans_header {
    168  uint8_t syncByte1;
    169  uint8_t syncByte2;
    170  uint32_t size:30;
    171  uint32_t subType:2;
    172  uint8_t type;
    173 } __attribute__((packed));
    174 
    175 struct scanDot {
    176  uint8_t quality;
    177  float angle;
    178  float dist;
    179 };
    180 
    181 
    183 struct LaserConfig {
    185  float min_angle;
    187  float max_angle;
    189  float ang_increment;
    191  float time_increment;
    193  float scan_time;
    195  float min_range;
    197  float max_range;
    199  float range_res;
    200 };
    201 
    202 
    212 struct LaserScan {
    214  std::vector<float> ranges;
    216  std::vector<float> intensities;
    218  uint64_t self_time_stamp;
    220  uint64_t system_time_stamp;
    222  LaserConfig config;
    223 };
    224 
    225 using namespace std;
    226 using namespace serial;
    227 
    228 namespace ydlidar{
    229 
    230  class YDlidarDriver
    231  {
    232  public:
    233  static YDlidarDriver* singleton(){
    234  return _impl;
    235  }
    236  static void initDriver(){
    237  _impl = new YDlidarDriver;
    238  }
    239  static void done(){
    240  if(_impl){
    241  delete _impl;
    242  _impl = NULL;
    243  }
    244  }
    245 
    261  result_t connect(const char * port_path, uint32_t baudrate);
    262 
    266  void disconnect();
    267 
    273  static std::string getSDKVersion();
    274 
    281  const bool isscanning() const;
    282 
    289  const bool isconnected() const;
    290 
    299  void setIntensities(const bool& isintensities);
    300 
    307  const bool getHeartBeat() const;
    308 
    317  void setHeartBeat(const bool& enable);
    318 
    325  result_t getHealth(device_health & health, uint32_t timeout = DEFAULT_TIMEOUT);
    326 
    335  result_t getDeviceInfo(device_info & info, uint32_t timeout = DEFAULT_TIMEOUT);
    336 
    346  result_t startScan(bool force = false, uint32_t timeout = DEFAULT_TIMEOUT) ;
    347 
    354  result_t stop();
    355 
    356 
    367  result_t grabScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT) ;
    368 
    369 
    380  result_t ascendScanData(node_info * nodebuffer, size_t count);
    381 
    390  result_t reset(uint32_t timeout = DEFAULT_TIMEOUT);
    391 
    398  result_t startMotor();
    399 
    406  result_t stopMotor();
    407 
    408 
    418  result_t getScanFrequency(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    419 
    429  result_t setScanFrequencyAdd(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    430 
    440  result_t setScanFrequencyDis(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    441 
    451  result_t setScanFrequencyAddMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    452 
    462  result_t setScanFrequencyDisMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    463 
    473  result_t getSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT);
    474 
    484  result_t setSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT);
    485 
    495  result_t setRotationPositive(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT);
    496 
    506  result_t setRotationInversion(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT);
    507 
    518  result_t enableLowerPower(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    519 
    530  result_t disableLowerPower(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    531 
    541  result_t getMotorState(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    542 
    552  result_t enableConstFreq(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    553 
    563  result_t disableConstFreq(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    564 
    575  result_t setSaveLowExposure(scan_exposure& low_exposure, uint32_t timeout = DEFAULT_TIMEOUT);
    576 
    586  result_t setLowExposure(scan_exposure& low_exposure, uint32_t timeout = DEFAULT_TIMEOUT);
    587 
    597  result_t setLowExposureAdd(scan_exposure & exposure, uint32_t timeout = DEFAULT_TIMEOUT);
    598 
    608  result_t setLowExposurerDis(scan_exposure & exposure, uint32_t timeout = DEFAULT_TIMEOUT);
    609 
    619  result_t setScanHeartbeat(scan_heart_beat& beat,uint32_t timeout = DEFAULT_TIMEOUT);
    620 
    630  result_t setPointsForOneRingFlag(scan_points& points,uint32_t timeout = DEFAULT_TIMEOUT);
    631 
    639  void simpleScanData(std::vector<scanDot> * scan_data , node_info *buffer, size_t count);
    640 
    641  protected:
    646  YDlidarDriver();
    647 
    652  virtual ~YDlidarDriver();
    653 
    658  result_t createThread();
    659 
    665  result_t waitPackage(node_info * node, uint32_t timeout = DEFAULT_TIMEOUT);
    666 
    677  result_t waitScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT);
    678 
    682  int cacheScanData();
    683 
    693  result_t sendCommand(uint8_t cmd, const void * payload = NULL, size_t payloadsize = 0);
    694 
    705  result_t waitResponseHeader(lidar_ans_header * header, uint32_t timeout = DEFAULT_TIMEOUT);
    706 
    718  result_t waitForData(size_t data_count,uint32_t timeout = DEFAULT_TIMEOUT, size_t * returned_size = NULL);
    719 
    728  result_t getData(uint8_t * data, size_t size);
    729 
    738  result_t sendData(const uint8_t * data, size_t size);
    739 
    747  result_t sendHeartBeat();
    748 
    749 
    753  void disableDataGrabbing();
    754 
    758  void setDTR();
    759 
    763  void clearDTR();
    764 
    765 
    766  public:
    767  std::atomic<bool> isConnected;
    768  std::atomic<bool> isScanning;
    769  std::atomic<bool> isHeartbeat;
    770 
    771  enum {
    772  DEFAULT_TIMEOUT = 2000,
    773  DEFAULT_HEART_BEAT = 1000,
    774  MAX_SCAN_NODES = 2048,
    775  };
    776  enum {
    777  YDLIDAR_F4=1,
    778  YDLIDAR_T1=2,
    779  YDLIDAR_F2=3,
    780  YDLIDAR_S4=4,
    781  YDLIDAR_G4=5,
    782  YDLIDAR_X4=6,
    783  YDLIDAR_F4PRO=6,
    784  YDLIDAR_G4C=9,
    786  };
    787  node_info scan_node_buf[2048];
    788  size_t scan_node_count;
    789  Event _dataEvent;
    790  Locker _lock;
    791  Thread _thread;
    792 
    793  private:
    794  int PackageSampleBytes;
    795  static YDlidarDriver* _impl;
    796  serial::Serial *_serial;
    797  bool m_intensities;
    798  int _sampling_rate;
    799  int model;
    800  uint32_t _baudrate;
    801  bool isSupportMotorCtrl;
    802  uint64_t m_ns;
    803  uint64_t m_calc_ns;
    804  uint32_t m_pointTime;
    805  uint32_t trans_delay;
    806  uint16_t firmware_version;
    807 
    808  node_package package;
    809  node_packages packages;
    810 
    811  uint16_t package_Sample_Index;
    812  float IntervalSampleAngle;
    813  float IntervalSampleAngle_LastPackage;
    814  uint16_t FirstSampleAngle;
    815  uint16_t LastSampleAngle;
    816  uint16_t CheckSun;
    817 
    818  uint16_t CheckSunCal;
    819  uint16_t SampleNumlAndCTCal;
    820  uint16_t LastSampleAngleCal;
    821  bool CheckSunResult;
    822  uint16_t Valu8Tou16;
    823 
    824  };
    825 }
    826 
    827 #endif // YDLIDAR_DRIVER_H
    LaserConfig::ang_increment
    float ang_increment
    Scan resolution [rad].
    Definition: ydlidar_driver.h:189
    -
    sampling_rate::rate
    uint8_t rate
    采样频率
    Definition: ydlidar_driver.h:133
    -
    ydlidar::YDlidarDriver::isScanning
    std::atomic< bool > isScanning
    扫图状态
    Definition: ydlidar_driver.h:768
    -
    ydlidar::YDlidarDriver::scan_node_count
    size_t scan_node_count
    激光点数
    Definition: ydlidar_driver.h:788
    -
    node_info::scan_frequence
    uint8_t scan_frequence
    时间戳
    Definition: ydlidar_driver.h:91
    -
    ydlidar
    Definition: ydlidar_driver.h:228
    -
    LaserConfig::min_angle
    float min_angle
    Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDL...
    Definition: ydlidar_driver.h:185
    -
    ydlidar::YDlidarDriver::isHeartbeat
    std::atomic< bool > isHeartbeat
    掉电保护状态
    Definition: ydlidar_driver.h:769
    -
    device_health::status
    uint8_t status
    健康状体
    Definition: ydlidar_driver.h:128
    -
    ydlidar::YDlidarDriver::_dataEvent
    Event _dataEvent
    数据同步事件
    Definition: ydlidar_driver.h:789
    -
    cmd_packet
    Definition: ydlidar_driver.h:160
    -
    device_health
    Definition: ydlidar_driver.h:127
    +
    1 #ifndef YDLIDAR_DRIVER_H
    2 #define YDLIDAR_DRIVER_H
    3 #include <stdlib.h>
    4 #include <atomic>
    5 #include <list>
    6 #include "locker.h"
    7 #include "serial.h"
    8 #include "thread.h"
    9 
    10 #if !defined(__cplusplus)
    11 #ifndef __cplusplus
    12 #error "The YDLIDAR SDK requires a C++ compiler to be built"
    13 #endif
    14 #endif
    15 #if !defined(_countof)
    16 #define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
    17 #endif
    18 
    19 #ifndef M_PI
    20 #define M_PI 3.1415926
    21 #endif
    22 
    23 #define LIDAR_CMD_STOP 0x65
    24 #define LIDAR_CMD_SCAN 0x60
    25 #define LIDAR_CMD_FORCE_SCAN 0x61
    26 #define LIDAR_CMD_RESET 0x80
    27 #define LIDAR_CMD_FORCE_STOP 0x00
    28 #define LIDAR_CMD_GET_EAI 0x55
    29 #define LIDAR_CMD_GET_DEVICE_INFO 0x90
    30 #define LIDAR_CMD_GET_DEVICE_HEALTH 0x92
    31 #define LIDAR_ANS_TYPE_DEVINFO 0x4
    32 #define LIDAR_ANS_TYPE_DEVHEALTH 0x6
    33 #define LIDAR_CMD_SYNC_BYTE 0xA5
    34 #define LIDAR_CMDFLAG_HAS_PAYLOAD 0x80
    35 #define LIDAR_ANS_SYNC_BYTE1 0xA5
    36 #define LIDAR_ANS_SYNC_BYTE2 0x5A
    37 #define LIDAR_ANS_TYPE_MEASUREMENT 0x81
    38 #define LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
    39 #define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
    40 #define LIDAR_RESP_MEASUREMENT_SYNC_QUALITY_SHIFT 8
    41 #define LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
    42 #define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
    43 #define LIDAR_RESP_MEASUREMENT_DISTANCE_SHIFT 2
    44 
    45 
    46 #define LIDAR_CMD_RUN_POSITIVE 0x06
    47 #define LIDAR_CMD_RUN_INVERSION 0x07
    48 #define LIDAR_CMD_SET_AIMSPEED_ADDMIC 0x09
    49 #define LIDAR_CMD_SET_AIMSPEED_DISMIC 0x0A
    50 #define LIDAR_CMD_SET_AIMSPEED_ADD 0x0B
    51 #define LIDAR_CMD_SET_AIMSPEED_DIS 0x0C
    52 #define LIDAR_CMD_GET_AIMSPEED 0x0D
    53 
    54 #define LIDAR_CMD_SET_SAMPLING_RATE 0xD0
    55 #define LIDAR_CMD_GET_SAMPLING_RATE 0xD1
    56 #define LIDAR_STATUS_OK 0x0
    57 #define LIDAR_STATUS_WARNING 0x1
    58 #define LIDAR_STATUS_ERROR 0x2
    59 
    60 #define LIDAR_CMD_ENABLE_LOW_POWER 0x01
    61 #define LIDAR_CMD_DISABLE_LOW_POWER 0x02
    62 #define LIDAR_CMD_STATE_MODEL_MOTOR 0x05
    63 #define LIDAR_CMD_ENABLE_CONST_FREQ 0x0E
    64 #define LIDAR_CMD_DISABLE_CONST_FREQ 0x0F
    65 
    66 #define LIDAR_CMD_SAVE_SET_EXPOSURE 0x94
    67 #define LIDAR_CMD_SET_LOW_EXPOSURE 0x95
    68 #define LIDAR_CMD_ADD_EXPOSURE 0x96
    69 #define LIDAR_CMD_DIS_EXPOSURE 0x97
    70 
    71 #define LIDAR_CMD_SET_HEART_BEAT 0xD9
    72 #define LIDAR_CMD_SET_SETPOINTSFORONERINGFLAG 0xae
    73 
    74 #define PackageSampleMaxLngth 0x100
    75 typedef enum {
    76  CT_Normal = 0,
    77  CT_RingStart = 1,
    78  CT_Tail,
    79 }CT;
    80 #define Node_Default_Quality (10)
    81 #define Node_Sync 1
    82 #define Node_NotSync 2
    83 #define PackagePaidBytes 10
    84 #define PH 0x55AA
    85 
    86 
    87 #define MAX_QUEUE_SIZE 20
    88 
    89 #if defined(_WIN32)
    90 #pragma pack(1)
    91 #endif
    92 
    93 
    94 struct pose_info
    95 {
    96  uint64_t stamp;
    97  double x;
    98  double y;
    99  double phi;
    100 };
    101 
    102 struct point_info {
    103  double x;
    104  double y;
    105  double z;
    106 };
    107 
    108 struct odom_info
    109 {
    110  uint64_t stamp;
    111  double x;
    112  double y;
    113  double phi;
    114  double v;
    115  double w;
    116  double dx;
    117  double dy;
    118  double dth;
    119 };
    120 
    121 struct node_info {
    122  uint8_t sync_flag;
    123  uint16_t sync_quality;
    124  uint16_t angle_q6_checkbit;
    125  uint16_t distance_q;
    126  uint64_t stamp;
    127  uint8_t scan_frequence;
    128  odom_info current_odom;
    129 } __attribute__((packed)) ;
    130 
    131 struct PackageNode {
    132  uint8_t PakageSampleQuality;
    133  uint16_t PakageSampleDistance;
    134 }__attribute__((packed));
    135 
    136 struct node_package {
    137  uint16_t package_Head;
    138  uint8_t package_CT;
    139  uint8_t nowPackageNum;
    140  uint16_t packageFirstSampleAngle;
    141  uint16_t packageLastSampleAngle;
    142  uint16_t checkSum;
    143  PackageNode packageSample[PackageSampleMaxLngth];
    144 } __attribute__((packed)) ;
    145 
    146 struct node_packages {
    147  uint16_t package_Head;
    148  uint8_t package_CT;
    149  uint8_t nowPackageNum;
    150  uint16_t packageFirstSampleAngle;
    151  uint16_t packageLastSampleAngle;
    152  uint16_t checkSum;
    153  uint16_t packageSampleDistance[PackageSampleMaxLngth];
    154 } __attribute__((packed)) ;
    155 
    156 
    157 struct device_info{
    158  uint8_t model;
    159  uint16_t firmware_version;
    160  uint8_t hardware_version;
    161  uint8_t serialnum[16];
    162 } __attribute__((packed)) ;
    163 
    164 struct device_health {
    165  uint8_t status;
    166  uint16_t error_code;
    167 } __attribute__((packed)) ;
    168 
    169 struct sampling_rate {
    170  uint8_t rate;
    171 } __attribute__((packed)) ;
    172 
    173 struct scan_frequency {
    174  uint32_t frequency;
    175 } __attribute__((packed)) ;
    176 
    177 struct scan_rotation {
    178  uint8_t rotation;
    179 } __attribute__((packed)) ;
    180 
    181 struct scan_exposure {
    182  uint8_t exposure;
    183 } __attribute__((packed)) ;
    184 
    185 struct scan_heart_beat {
    186  uint8_t enable;
    187 } __attribute__((packed));
    188 
    189 struct scan_points {
    190  uint8_t flag;
    191 } __attribute__((packed)) ;
    192 
    193 struct function_state {
    194  uint8_t state;
    195 } __attribute__((packed)) ;
    196 
    197 struct cmd_packet {
    198  uint8_t syncByte;
    199  uint8_t cmd_flag;
    200  uint8_t size;
    201  uint8_t data;
    202 } __attribute__((packed)) ;
    203 
    204 struct lidar_ans_header {
    205  uint8_t syncByte1;
    206  uint8_t syncByte2;
    207  uint32_t size:30;
    208  uint32_t subType:2;
    209  uint8_t type;
    210 } __attribute__((packed));
    211 
    212 struct scanDot {
    213  uint8_t quality;
    214  float angle;
    215  float dist;
    216 };
    217 
    218 
    220 struct LaserConfig {
    222  float min_angle;
    224  float max_angle;
    226  float ang_increment;
    228  float time_increment;
    230  float scan_time;
    232  float min_range;
    234  float max_range;
    236  float range_res;
    237 };
    238 
    239 
    249 struct LaserScan {
    251  std::vector<float> ranges;
    253  std::vector<float> intensities;
    255  uint64_t self_time_stamp;
    257  uint64_t system_time_stamp;
    259  LaserConfig config;
    260 };
    261 
    262 
    263 struct PointCloud {
    265  std::vector<point_info> points;
    267  uint64_t system_time_stamp;
    268 };
    269 
    270 using namespace std;
    271 using namespace serial;
    272 
    273 namespace ydlidar{
    274 
    275  class YDlidarDriver
    276  {
    277  public:
    278  static YDlidarDriver* singleton(){
    279  return _impl;
    280  }
    281  static void initDriver(){
    282  _impl = new YDlidarDriver;
    283  }
    284  static void done(){
    285  if(_impl){
    286  delete _impl;
    287  _impl = NULL;
    288  }
    289  }
    290 
    306  result_t connect(const char * port_path, uint32_t baudrate);
    307 
    311  void disconnect();
    312 
    318  static std::string getSDKVersion();
    319 
    326  const bool isscanning() const;
    327 
    334  const bool isconnected() const;
    335 
    340  void setSyncOdometry(const odom_info& odom);
    341 
    350  void setIntensities(const bool& isintensities);
    351 
    358  const bool getHeartBeat() const;
    359 
    368  void setHeartBeat(const bool& enable);
    369 
    376  void setAutoReconnect(const bool& enable);
    377 
    385  bool setSaveParse(bool parse, const std::string& filename);
    386 
    387 
    388 
    395  result_t getHealth(device_health & health, uint32_t timeout = DEFAULT_TIMEOUT);
    396 
    405  result_t getDeviceInfo(device_info & info, uint32_t timeout = DEFAULT_TIMEOUT);
    406 
    416  result_t startScan(bool force = false, uint32_t timeout = DEFAULT_TIMEOUT) ;
    417 
    424  result_t stop();
    425 
    426 
    437  result_t grabScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT) ;
    438 
    439 
    450  result_t ascendScanData(node_info * nodebuffer, size_t count);
    451 
    460  result_t reset(uint32_t timeout = DEFAULT_TIMEOUT);
    461 
    468  result_t startMotor();
    469 
    476  result_t stopMotor();
    477 
    478 
    488  result_t getScanFrequency(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    489 
    499  result_t setScanFrequencyAdd(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    500 
    510  result_t setScanFrequencyDis(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    511 
    521  result_t setScanFrequencyAddMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    522 
    532  result_t setScanFrequencyDisMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT);
    533 
    543  result_t getSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT);
    544 
    554  result_t setSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT);
    555 
    565  result_t setRotationPositive(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT);
    566 
    576  result_t setRotationInversion(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT);
    577 
    588  result_t enableLowerPower(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    589 
    600  result_t disableLowerPower(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    601 
    611  result_t getMotorState(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    612 
    622  result_t enableConstFreq(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    623 
    633  result_t disableConstFreq(function_state & state, uint32_t timeout = DEFAULT_TIMEOUT);
    634 
    645  result_t setSaveLowExposure(scan_exposure& low_exposure, uint32_t timeout = DEFAULT_TIMEOUT);
    646 
    656  result_t setLowExposure(scan_exposure& low_exposure, uint32_t timeout = DEFAULT_TIMEOUT);
    657 
    667  result_t setLowExposureAdd(scan_exposure & exposure, uint32_t timeout = DEFAULT_TIMEOUT);
    668 
    678  result_t setLowExposurerDis(scan_exposure & exposure, uint32_t timeout = DEFAULT_TIMEOUT);
    679 
    689  result_t setScanHeartbeat(scan_heart_beat& beat,uint32_t timeout = DEFAULT_TIMEOUT);
    690 
    700  result_t setPointsForOneRingFlag(scan_points& points,uint32_t timeout = DEFAULT_TIMEOUT);
    701 
    709  void simpleScanData(std::vector<scanDot> * scan_data , node_info *buffer, size_t count);
    710 
    711  protected:
    716  YDlidarDriver();
    717 
    722  virtual ~YDlidarDriver();
    723 
    728  result_t createThread();
    729 
    730 
    741  result_t startAutoScan(bool force = false, uint32_t timeout = DEFAULT_TIMEOUT) ;
    742 
    748  result_t waitPackage(node_info * node, uint32_t timeout = DEFAULT_TIMEOUT);
    749 
    760  result_t waitScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT);
    761 
    765  int cacheScanData();
    766 
    776  result_t sendCommand(uint8_t cmd, const void * payload = NULL, size_t payloadsize = 0);
    777 
    788  result_t waitResponseHeader(lidar_ans_header * header, uint32_t timeout = DEFAULT_TIMEOUT);
    789 
    801  result_t waitForData(size_t data_count,uint32_t timeout = DEFAULT_TIMEOUT, size_t * returned_size = NULL);
    802 
    811  result_t getData(uint8_t * data, size_t size);
    812 
    821  result_t sendData(const uint8_t * data, size_t size);
    822 
    830  result_t sendHeartBeat();
    831 
    832 
    836  void disableDataGrabbing();
    837 
    841  void setDTR();
    842 
    846  void clearDTR();
    847 
    848 
    849  public:
    850  std::atomic<bool> isConnected;
    851  std::atomic<bool> isScanning;
    852  std::atomic<bool> isHeartbeat;
    853  std::atomic<bool> isAutoReconnect;
    854  std::atomic<bool> isAutoconnting;
    855  std::atomic<bool> save_parsing;
    856 
    857  enum {
    858  DEFAULT_TIMEOUT = 2000,
    859  DEFAULT_HEART_BEAT = 1000,
    860  MAX_SCAN_NODES = 2048,
    861  };
    862  enum {
    863  YDLIDAR_F4=1,
    864  YDLIDAR_T1=2,
    865  YDLIDAR_F2=3,
    866  YDLIDAR_S4=4,
    867  YDLIDAR_G4=5,
    868  YDLIDAR_X4=6,
    869  YDLIDAR_F4PRO=6,
    870  YDLIDAR_G4C=9,
    872  };
    873  node_info scan_node_buf[2048];
    874  size_t scan_node_count;
    875  Event _dataEvent;
    876  Locker _lock;
    877  Locker _serial_lock;
    878  Locker _odom_lock;
    879  Thread _thread;
    880 
    881  private:
    882  int PackageSampleBytes;
    883  static YDlidarDriver* _impl;
    884  serial::Serial *_serial;
    885  bool m_intensities;
    886  int _sampling_rate;
    887  int model;
    888  uint32_t _baudrate;
    889  bool isSupportMotorCtrl;
    890  uint64_t m_ns;
    891  uint64_t m_calc_ns;
    892  uint32_t m_pointTime;
    893  uint32_t trans_delay;
    894  uint16_t firmware_version;
    895 
    896  node_package package;
    897  node_packages packages;
    898 
    899  uint16_t package_Sample_Index;
    900  float IntervalSampleAngle;
    901  float IntervalSampleAngle_LastPackage;
    902  uint16_t FirstSampleAngle;
    903  uint16_t LastSampleAngle;
    904  uint16_t CheckSun;
    905 
    906  uint16_t CheckSunCal;
    907  uint16_t SampleNumlAndCTCal;
    908  uint16_t LastSampleAngleCal;
    909  bool CheckSunResult;
    910  uint16_t Valu8Tou16;
    911 
    912  std::string serial_port;
    913 
    914  std::list< odom_info> odom_queue;
    915 
    916  odom_info last_odom;
    917  odom_info current_odom;
    918 
    919  FILE *fd;
    920 
    921  };
    922 }
    923 
    924 #endif // YDLIDAR_DRIVER_H
    LaserConfig::ang_increment
    float ang_increment
    Scan resolution [rad].
    Definition: ydlidar_driver.h:226
    +
    sampling_rate::rate
    uint8_t rate
    采样频率
    Definition: ydlidar_driver.h:170
    +
    ydlidar::YDlidarDriver::isScanning
    std::atomic< bool > isScanning
    扫图状态
    Definition: ydlidar_driver.h:851
    +
    ydlidar::YDlidarDriver::scan_node_count
    size_t scan_node_count
    激光点数
    Definition: ydlidar_driver.h:874
    +
    node_info::scan_frequence
    uint8_t scan_frequence
    时间戳
    Definition: ydlidar_driver.h:127
    +
    ydlidar
    Definition: ydlidar_driver.h:273
    +
    LaserConfig::min_angle
    float min_angle
    Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDL...
    Definition: ydlidar_driver.h:222
    +
    ydlidar::YDlidarDriver::isHeartbeat
    std::atomic< bool > isHeartbeat
    掉电保护状态
    Definition: ydlidar_driver.h:852
    +
    device_health::status
    uint8_t status
    健康状体
    Definition: ydlidar_driver.h:165
    +
    ydlidar::YDlidarDriver::_dataEvent
    Event _dataEvent
    数据同步事件
    Definition: ydlidar_driver.h:875
    +
    cmd_packet
    Definition: ydlidar_driver.h:197
    +
    point_info
    Definition: ydlidar_driver.h:102
    +
    device_health
    Definition: ydlidar_driver.h:164
    Event
    Definition: locker.h:167
    -
    ydlidar::YDlidarDriver::_thread
    Thread _thread
    线程id
    Definition: ydlidar_driver.h:791
    -
    device_health::error_code
    uint16_t error_code
    错误代码
    Definition: ydlidar_driver.h:129
    +
    pose_info::x
    double x
    时间戳
    Definition: ydlidar_driver.h:97
    +
    ydlidar::YDlidarDriver::_thread
    Thread _thread
    线程id
    Definition: ydlidar_driver.h:879
    +
    device_health::error_code
    uint16_t error_code
    错误代码
    Definition: ydlidar_driver.h:166
    +
    odom_info::w
    double w
    角速度
    Definition: ydlidar_driver.h:115
    +
    odom_info::stamp
    uint64_t stamp
    时间戳
    Definition: ydlidar_driver.h:110
    +
    ydlidar::YDlidarDriver::isAutoconnting
    std::atomic< bool > isAutoconnting
    是否正在自动连接中
    Definition: ydlidar_driver.h:854
    -
    LaserConfig::range_res
    float range_res
    Range Resolution [m].
    Definition: ydlidar_driver.h:199
    -
    scanDot
    Definition: ydlidar_driver.h:175
    -
    lidar_ans_header
    Definition: ydlidar_driver.h:167
    -
    LaserConfig
    A struct for returning configuration from the YDLIDAR.
    Definition: ydlidar_driver.h:183
    -
    ydlidar::YDlidarDriver::_lock
    Locker _lock
    线程锁
    Definition: ydlidar_driver.h:790
    -
    LaserScan
    Definition: ydlidar_driver.h:212
    -
    LaserScan::self_time_stamp
    uint64_t self_time_stamp
    Self reported time stamp in nanoseconds.
    Definition: ydlidar_driver.h:218
    -
    ydlidar::YDlidarDriver::isConnected
    std::atomic< bool > isConnected
    串口连接状体
    Definition: ydlidar_driver.h:767
    -
    LaserScan::system_time_stamp
    uint64_t system_time_stamp
    System time when first range was measured in nanoseconds.
    Definition: ydlidar_driver.h:220
    +
    LaserConfig::range_res
    float range_res
    Range Resolution [m].
    Definition: ydlidar_driver.h:236
    +
    scanDot
    Definition: ydlidar_driver.h:212
    +
    lidar_ans_header
    Definition: ydlidar_driver.h:204
    +
    odom_info
    Definition: ydlidar_driver.h:108
    +
    LaserConfig
    A struct for returning configuration from the YDLIDAR.
    Definition: ydlidar_driver.h:220
    +
    ydlidar::YDlidarDriver::_lock
    Locker _lock
    线程锁
    Definition: ydlidar_driver.h:876
    +
    ydlidar::YDlidarDriver::_serial_lock
    Locker _serial_lock
    串口锁
    Definition: ydlidar_driver.h:877
    +
    LaserScan
    Definition: ydlidar_driver.h:249
    +
    LaserScan::self_time_stamp
    uint64_t self_time_stamp
    Self reported time stamp in nanoseconds.
    Definition: ydlidar_driver.h:255
    +
    ydlidar::YDlidarDriver::isConnected
    std::atomic< bool > isConnected
    串口连接状体
    Definition: ydlidar_driver.h:850
    +
    LaserScan::system_time_stamp
    uint64_t system_time_stamp
    System time when first range was measured in nanoseconds.
    Definition: ydlidar_driver.h:257
    +
    PointCloud::points
    std::vector< point_info > points
    Array of points.
    Definition: ydlidar_driver.h:265
    Thread
    Definition: thread.h:22
    -
    node_package
    Definition: ydlidar_driver.h:99
    -
    scan_heart_beat
    Definition: ydlidar_driver.h:148
    -
    LaserScan::ranges
    std::vector< float > ranges
    Array of ranges.
    Definition: ydlidar_driver.h:214
    +
    PointCloud::system_time_stamp
    uint64_t system_time_stamp
    System time when first range was measured in nanoseconds.
    Definition: ydlidar_driver.h:267
    +
    node_package
    Definition: ydlidar_driver.h:136
    +
    scan_heart_beat
    Definition: ydlidar_driver.h:185
    +
    LaserScan::ranges
    std::vector< float > ranges
    Array of ranges.
    Definition: ydlidar_driver.h:251
    serial
    Definition: serial.h:11
    -
    scan_heart_beat::enable
    uint8_t enable
    掉电保护状态
    Definition: ydlidar_driver.h:149
    -
    node_info::stamp
    uint64_t stamp
    当前测距点距离
    Definition: ydlidar_driver.h:90
    -
    scan_exposure::exposure
    uint8_t exposure
    低光功率模式
    Definition: ydlidar_driver.h:145
    -
    device_info
    Definition: ydlidar_driver.h:120
    -
    sampling_rate
    Definition: ydlidar_driver.h:132
    -
    LaserScan::intensities
    std::vector< float > intensities
    Array of intensities.
    Definition: ydlidar_driver.h:216
    -
    LaserConfig::time_increment
    float time_increment
    Scan resoltuion [s].
    Definition: ydlidar_driver.h:191
    -
    LaserConfig::scan_time
    float scan_time
    Time between scans.
    Definition: ydlidar_driver.h:193
    -
    ydlidar::YDlidarDriver
    Definition: ydlidar_driver.h:230
    -
    LaserConfig::max_angle
    float max_angle
    Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLI...
    Definition: ydlidar_driver.h:187
    -
    LaserConfig::max_range
    float max_range
    Maximum range [m].
    Definition: ydlidar_driver.h:197
    -
    device_info::firmware_version
    uint16_t firmware_version
    固件版本号
    Definition: ydlidar_driver.h:122
    -
    node_info::distance_q2
    uint16_t distance_q2
    测距点角度
    Definition: ydlidar_driver.h:89
    -
    node_info::angle_q6_checkbit
    uint16_t angle_q6_checkbit
    信号质量
    Definition: ydlidar_driver.h:88
    -
    scan_exposure
    Definition: ydlidar_driver.h:144
    -
    device_info::model
    uint8_t model
    雷达型号
    Definition: ydlidar_driver.h:121
    -
    device_info::hardware_version
    uint8_t hardware_version
    硬件版本号
    Definition: ydlidar_driver.h:123
    -
    scan_points
    Definition: ydlidar_driver.h:152
    -
    LaserConfig::min_range
    float min_range
    Minimum range [m].
    Definition: ydlidar_driver.h:195
    -
    scan_rotation
    Definition: ydlidar_driver.h:140
    -
    scan_frequency::frequency
    uint32_t frequency
    扫描频率
    Definition: ydlidar_driver.h:137
    -
    LaserScan::config
    LaserConfig config
    Configuration of scan.
    Definition: ydlidar_driver.h:222
    -
    node_info
    Definition: ydlidar_driver.h:86
    -
    scan_frequency
    Definition: ydlidar_driver.h:136
    +
    node_info::distance_q
    uint16_t distance_q
    测距点角度
    Definition: ydlidar_driver.h:125
    +
    scan_heart_beat::enable
    uint8_t enable
    掉电保护状态
    Definition: ydlidar_driver.h:186
    +
    ydlidar::YDlidarDriver::save_parsing
    std::atomic< bool > save_parsing
    是否保存解析命令到文件，调试调用
    Definition: ydlidar_driver.h:855
    +
    node_info::stamp
    uint64_t stamp
    当前测距点距离
    Definition: ydlidar_driver.h:126
    +
    scan_exposure::exposure
    uint8_t exposure
    低光功率模式
    Definition: ydlidar_driver.h:182
    +
    ydlidar::YDlidarDriver::isAutoReconnect
    std::atomic< bool > isAutoReconnect
    异常自动从新连接
    Definition: ydlidar_driver.h:853
    +
    odom_info::phi
    double phi
    角度方向
    Definition: ydlidar_driver.h:113
    +
    PointCloud
    Definition: ydlidar_driver.h:263
    +
    device_info
    Definition: ydlidar_driver.h:157
    +
    odom_info::dth
    double dth
    方向增量
    Definition: ydlidar_driver.h:118
    +
    sampling_rate
    Definition: ydlidar_driver.h:169
    +
    LaserScan::intensities
    std::vector< float > intensities
    Array of intensities.
    Definition: ydlidar_driver.h:253
    +
    odom_info::dy
    double dy
    y位置增量
    Definition: ydlidar_driver.h:117
    +
    LaserConfig::time_increment
    float time_increment
    Scan resoltuion [ns].
    Definition: ydlidar_driver.h:228
    +
    LaserConfig::scan_time
    float scan_time
    Time between scans.
    Definition: ydlidar_driver.h:230
    +
    ydlidar::YDlidarDriver
    Definition: ydlidar_driver.h:275
    +
    LaserConfig::max_angle
    float max_angle
    Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLI...
    Definition: ydlidar_driver.h:224
    +
    odom_info::v
    double v
    线速度
    Definition: ydlidar_driver.h:114
    +
    LaserConfig::max_range
    float max_range
    Maximum range [m].
    Definition: ydlidar_driver.h:234
    +
    odom_info::x
    double x
    x位置
    Definition: ydlidar_driver.h:111
    +
    node_info::current_odom
    odom_info current_odom
    特定版本此值才有效,无效值是0, 当前扫描频率current_frequence = scan_frequence/10.0 ...
    Definition: ydlidar_driver.h:128
    +
    device_info::firmware_version
    uint16_t firmware_version
    固件版本号
    Definition: ydlidar_driver.h:159
    +
    node_info::angle_q6_checkbit
    uint16_t angle_q6_checkbit
    信号质量
    Definition: ydlidar_driver.h:124
    +
    scan_exposure
    Definition: ydlidar_driver.h:181
    +
    device_info::model
    uint8_t model
    雷达型号
    Definition: ydlidar_driver.h:158
    +
    device_info::hardware_version
    uint8_t hardware_version
    硬件版本号
    Definition: ydlidar_driver.h:160
    +
    scan_points
    Definition: ydlidar_driver.h:189
    +
    pose_info
    Definition: ydlidar_driver.h:94
    +
    odom_info::dx
    double dx
    x位置增量
    Definition: ydlidar_driver.h:116
    +
    ydlidar::YDlidarDriver::_odom_lock
    Locker _odom_lock
    里程计同步锁
    Definition: ydlidar_driver.h:878
    +
    LaserConfig::min_range
    float min_range
    Minimum range [m].
    Definition: ydlidar_driver.h:232
    +
    scan_rotation
    Definition: ydlidar_driver.h:177
    +
    scan_frequency::frequency
    uint32_t frequency
    扫描频率
    Definition: ydlidar_driver.h:174
    +
    LaserScan::config
    LaserConfig config
    Configuration of scan.
    Definition: ydlidar_driver.h:259
    +
    odom_info::y
    double y
    y位置
    Definition: ydlidar_driver.h:112
    +
    node_info
    Definition: ydlidar_driver.h:121
    +
    scan_frequency
    Definition: ydlidar_driver.h:173
    serial::Serial
    Definition: serial.h:107
    -
    PackageNode
    Definition: ydlidar_driver.h:94
    -
    function_state
    Definition: ydlidar_driver.h:156
    +
    PackageNode
    Definition: ydlidar_driver.h:131
    +
    function_state
    Definition: ydlidar_driver.h:193
    Locker
    Definition: locker.h:20
    -
    node_packages
    Definition: ydlidar_driver.h:109
    +
    node_packages
    Definition: ydlidar_driver.h:146
    diff --git a/sdk/doc/latex/Makefile b/sdk/doc/latex/Makefile deleted file mode 100644 index 8cc3866..0000000 --- a/sdk/doc/latex/Makefile +++ /dev/null @@ -1,21 +0,0 @@ -all: refman.pdf - -pdf: refman.pdf - -refman.pdf: clean refman.tex - pdflatex refman - makeindex refman.idx - pdflatex refman - latex_count=8 ; \ - while egrep -s 'Rerun (LaTeX|to get cross-references right)' refman.log && [ $$latex_count -gt 0 ] ;\ - do \ - echo "Rerunning latex...." ;\ - pdflatex refman ;\ - latex_count=`expr $$latex_count - 1` ;\ - done - makeindex refman.idx - pdflatex refman - - -clean: - rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl refman.pdf diff --git a/sdk/doc/latex/annotated.tex b/sdk/doc/latex/annotated.tex deleted file mode 100644 index b6d4f49..0000000 --- a/sdk/doc/latex/annotated.tex +++ /dev/null @@ -1,35 +0,0 @@ -\section{Class List} -Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList} -\item\contentsline{section}{\hyperlink{structcmd__packet}{cmd\+\_\+packet} }{\pageref{structcmd__packet}}{} -\item\contentsline{section}{\hyperlink{class_c_yd_lidar}{C\+Yd\+Lidar} }{\pageref{class_c_yd_lidar}}{} -\item\contentsline{section}{\hyperlink{structdevice__health}{device\+\_\+health} }{\pageref{structdevice__health}}{} -\item\contentsline{section}{\hyperlink{structdevice__info}{device\+\_\+info} }{\pageref{structdevice__info}}{} -\item\contentsline{section}{\hyperlink{class_event}{Event} }{\pageref{class_event}}{} -\item\contentsline{section}{\hyperlink{structfunction__state}{function\+\_\+state} }{\pageref{structfunction__state}}{} -\item\contentsline{section}{\hyperlink{struct_laser_config}{Laser\+Config} \\*A struct for returning configuration from the Y\+D\+L\+I\+D\+AR }{\pageref{struct_laser_config}}{} -\item\contentsline{section}{\hyperlink{struct_laser_scan}{Laser\+Scan} }{\pageref{struct_laser_scan}}{} -\item\contentsline{section}{\hyperlink{structlidar__ans__header}{lidar\+\_\+ans\+\_\+header} }{\pageref{structlidar__ans__header}}{} -\item\contentsline{section}{\hyperlink{class_locker}{Locker} }{\pageref{class_locker}}{} -\item\contentsline{section}{\hyperlink{classserial_1_1_millisecond_timer}{serial\+::\+Millisecond\+Timer} }{\pageref{classserial_1_1_millisecond_timer}}{} -\item\contentsline{section}{\hyperlink{structnode__info}{node\+\_\+info} }{\pageref{structnode__info}}{} -\item\contentsline{section}{\hyperlink{structnode__package}{node\+\_\+package} }{\pageref{structnode__package}}{} -\item\contentsline{section}{\hyperlink{structnode__packages}{node\+\_\+packages} }{\pageref{structnode__packages}}{} -\item\contentsline{section}{\hyperlink{struct_package_node}{Package\+Node} }{\pageref{struct_package_node}}{} -\item\contentsline{section}{\hyperlink{structserial_1_1_port_info}{serial\+::\+Port\+Info} }{\pageref{structserial_1_1_port_info}}{} -\item\contentsline{section}{\hyperlink{structsampling__rate}{sampling\+\_\+rate} }{\pageref{structsampling__rate}}{} -\item\contentsline{section}{\hyperlink{structscan__exposure}{scan\+\_\+exposure} }{\pageref{structscan__exposure}}{} -\item\contentsline{section}{\hyperlink{structscan__frequency}{scan\+\_\+frequency} }{\pageref{structscan__frequency}}{} -\item\contentsline{section}{\hyperlink{structscan__heart__beat}{scan\+\_\+heart\+\_\+beat} }{\pageref{structscan__heart__beat}}{} -\item\contentsline{section}{\hyperlink{structscan__points}{scan\+\_\+points} }{\pageref{structscan__points}}{} -\item\contentsline{section}{\hyperlink{structscan__rotation}{scan\+\_\+rotation} }{\pageref{structscan__rotation}}{} -\item\contentsline{section}{\hyperlink{structscan_dot}{scan\+Dot} }{\pageref{structscan_dot}}{} -\item\contentsline{section}{\hyperlink{class_scoped_locker}{Scoped\+Locker} }{\pageref{class_scoped_locker}}{} -\item\contentsline{section}{\hyperlink{classserial_1_1_serial_1_1_scoped_read_lock}{serial\+::\+Serial\+::\+Scoped\+Read\+Lock} }{\pageref{classserial_1_1_serial_1_1_scoped_read_lock}}{} -\item\contentsline{section}{\hyperlink{classserial_1_1_serial_1_1_scoped_write_lock}{serial\+::\+Serial\+::\+Scoped\+Write\+Lock} }{\pageref{classserial_1_1_serial_1_1_scoped_write_lock}}{} -\item\contentsline{section}{\hyperlink{classserial_1_1_serial}{serial\+::\+Serial} }{\pageref{classserial_1_1_serial}}{} -\item\contentsline{section}{\hyperlink{classserial_1_1serial_1_1_serial_1_1_serial_impl}{serial\+::\+Serial\+::\+Serial\+Impl} }{\pageref{classserial_1_1serial_1_1_serial_1_1_serial_impl}}{} -\item\contentsline{section}{\hyperlink{structserial_1_1termios2}{serial\+::termios2} }{\pageref{structserial_1_1termios2}}{} -\item\contentsline{section}{\hyperlink{class_thread}{Thread} }{\pageref{class_thread}}{} -\item\contentsline{section}{\hyperlink{structserial_1_1_timeout}{serial\+::\+Timeout} }{\pageref{structserial_1_1_timeout}}{} -\item\contentsline{section}{\hyperlink{classydlidar_1_1_y_dlidar_driver}{ydlidar\+::\+Y\+Dlidar\+Driver} }{\pageref{classydlidar_1_1_y_dlidar_driver}}{} -\end{DoxyCompactList} diff --git a/sdk/doc/latex/class_c_yd_lidar.tex b/sdk/doc/latex/class_c_yd_lidar.tex deleted file mode 100644 index 78f1861..0000000 --- a/sdk/doc/latex/class_c_yd_lidar.tex +++ /dev/null @@ -1,50 +0,0 @@ -\hypertarget{class_c_yd_lidar}{}\section{C\+Yd\+Lidar Class Reference} -\label{class_c_yd_lidar}\index{C\+Yd\+Lidar@{C\+Yd\+Lidar}} -\subsection*{Protected Member Functions} -\begin{DoxyCompactItemize} -\item -bool \hyperlink{class_c_yd_lidar_ab43ca6b1d054aa464a36bea0d4b7934c}{check\+C\+O\+M\+Ms} () -\item -bool \hyperlink{class_c_yd_lidar_a8b401544eb4c992c7eff8d5fd47e5676}{check\+Status} () -\item -bool \hyperlink{class_c_yd_lidar_ab3c24f8f59fee87aa4e829ca5c8f90d2}{check\+Hardware} () -\end{DoxyCompactItemize} - - -\subsection{Member Function Documentation} -\index{C\+Yd\+Lidar@{C\+Yd\+Lidar}!check\+C\+O\+M\+Ms@{check\+C\+O\+M\+Ms}} -\index{check\+C\+O\+M\+Ms@{check\+C\+O\+M\+Ms}!C\+Yd\+Lidar@{C\+Yd\+Lidar}} -\subsubsection[{\texorpdfstring{check\+C\+O\+M\+Ms()}{checkCOMMs()}}]{\setlength{\rightskip}{0pt plus 5cm}bool C\+Yd\+Lidar\+::check\+C\+O\+M\+Ms ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{class_c_yd_lidar_ab43ca6b1d054aa464a36bea0d4b7934c}{}\label{class_c_yd_lidar_ab43ca6b1d054aa464a36bea0d4b7934c} -Returns true if communication has been established with the device. If it\textquotesingle{}s not, try to create a comms channel. \begin{DoxyReturn}{Returns} -false on error. -\end{DoxyReturn} -\index{C\+Yd\+Lidar@{C\+Yd\+Lidar}!check\+Hardware@{check\+Hardware}} -\index{check\+Hardware@{check\+Hardware}!C\+Yd\+Lidar@{C\+Yd\+Lidar}} -\subsubsection[{\texorpdfstring{check\+Hardware()}{checkHardware()}}]{\setlength{\rightskip}{0pt plus 5cm}bool C\+Yd\+Lidar\+::check\+Hardware ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{class_c_yd_lidar_ab3c24f8f59fee87aa4e829ca5c8f90d2}{}\label{class_c_yd_lidar_ab3c24f8f59fee87aa4e829ca5c8f90d2} -Returns true if the normal scan runs with the device. If it\textquotesingle{}s not, \begin{DoxyReturn}{Returns} -false on error. -\end{DoxyReturn} -\index{C\+Yd\+Lidar@{C\+Yd\+Lidar}!check\+Status@{check\+Status}} -\index{check\+Status@{check\+Status}!C\+Yd\+Lidar@{C\+Yd\+Lidar}} -\subsubsection[{\texorpdfstring{check\+Status()}{checkStatus()}}]{\setlength{\rightskip}{0pt plus 5cm}bool C\+Yd\+Lidar\+::check\+Status ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{class_c_yd_lidar_a8b401544eb4c992c7eff8d5fd47e5676}{}\label{class_c_yd_lidar_a8b401544eb4c992c7eff8d5fd47e5676} -Returns true if health status and device information has been obtained with the device. If it\textquotesingle{}s not, \begin{DoxyReturn}{Returns} -false on error. -\end{DoxyReturn} - - -The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/C\+Yd\+Lidar.\+h\item -/home/yang/tmp/sdk/src/C\+Yd\+Lidar.\+cpp\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/class_event.tex b/sdk/doc/latex/class_event.tex deleted file mode 100644 index bb10173..0000000 --- a/sdk/doc/latex/class_event.tex +++ /dev/null @@ -1,49 +0,0 @@ -\hypertarget{class_event}{}\section{Event Class Reference} -\label{class_event}\index{Event@{Event}} -\subsection*{Public Types} -\begin{DoxyCompactItemize} -\item -enum \{ {\bfseries E\+V\+E\+N\+T\+\_\+\+OK} = 1, -{\bfseries E\+V\+E\+N\+T\+\_\+\+T\+I\+M\+E\+O\+UT} = 2, -{\bfseries E\+V\+E\+N\+T\+\_\+\+F\+A\+I\+L\+ED} = 0 - \}\hypertarget{class_event_a99a155041141cae7621f251dfdbea0aa}{}\label{class_event_a99a155041141cae7621f251dfdbea0aa} - -\end{DoxyCompactItemize} -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -{\bfseries Event} (bool is\+Auto\+Reset=true, bool is\+Signal=false)\hypertarget{class_event_a1a533c1311f6e5e216e18cdb0a195562}{}\label{class_event_a1a533c1311f6e5e216e18cdb0a195562} - -\item -void {\bfseries set} (bool is\+Signal=true)\hypertarget{class_event_a8fe592771e891bbaa524e6681b870db2}{}\label{class_event_a8fe592771e891bbaa524e6681b870db2} - -\item -unsigned long {\bfseries wait} (unsigned long timeout=0x\+F\+F\+F\+F\+F\+F\+F\+F)\hypertarget{class_event_a026f379d5eba34adbfd1892a2c5a1f43}{}\label{class_event_a026f379d5eba34adbfd1892a2c5a1f43} - -\end{DoxyCompactItemize} -\subsection*{Protected Member Functions} -\begin{DoxyCompactItemize} -\item -void {\bfseries release} ()\hypertarget{class_event_aa6b17dba2949879c7e19e3651d061b7b}{}\label{class_event_aa6b17dba2949879c7e19e3651d061b7b} - -\end{DoxyCompactItemize} -\subsection*{Protected Attributes} -\begin{DoxyCompactItemize} -\item -pthread\+\_\+cond\+\_\+t {\bfseries \+\_\+cond\+\_\+var}\hypertarget{class_event_acf1cb5e02dbbb2d32319f1f60f1cb9fa}{}\label{class_event_acf1cb5e02dbbb2d32319f1f60f1cb9fa} - -\item -pthread\+\_\+mutex\+\_\+t {\bfseries \+\_\+cond\+\_\+locker}\hypertarget{class_event_a151be53028faee4d60620cca190df90b}{}\label{class_event_a151be53028faee4d60620cca190df90b} - -\item -bool {\bfseries \+\_\+is\+\_\+signalled}\hypertarget{class_event_afdbb004c4e19a444aebf79b4745c2c76}{}\label{class_event_afdbb004c4e19a444aebf79b4745c2c76} - -\item -bool {\bfseries \+\_\+is\+Auto\+Reset}\hypertarget{class_event_a7f609b99f6132b957a68324b3f80441b}{}\label{class_event_a7f609b99f6132b957a68324b3f80441b} - -\end{DoxyCompactItemize} - - -The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/locker.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/class_locker.tex b/sdk/doc/latex/class_locker.tex deleted file mode 100644 index 91a150d..0000000 --- a/sdk/doc/latex/class_locker.tex +++ /dev/null @@ -1,43 +0,0 @@ -\hypertarget{class_locker}{}\section{Locker Class Reference} -\label{class_locker}\index{Locker@{Locker}} -\subsection*{Public Types} -\begin{DoxyCompactItemize} -\item -enum {\bfseries L\+O\+C\+K\+\_\+\+S\+T\+A\+T\+US} \{ {\bfseries L\+O\+C\+K\+\_\+\+OK} = 0, -{\bfseries L\+O\+C\+K\+\_\+\+T\+I\+M\+E\+O\+UT} = -\/1, -{\bfseries L\+O\+C\+K\+\_\+\+F\+A\+I\+L\+ED} = -\/2 - \}\hypertarget{class_locker_a9041a321dd3a61e8f4001bff198c1fba}{}\label{class_locker_a9041a321dd3a61e8f4001bff198c1fba} - -\end{DoxyCompactItemize} -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -Locker\+::\+L\+O\+C\+K\+\_\+\+S\+T\+A\+T\+US {\bfseries lock} (unsigned long timeout=0x\+F\+F\+F\+F\+F\+F\+F\+F)\hypertarget{class_locker_aabec65f1478f070c51c320ea202e9823}{}\label{class_locker_aabec65f1478f070c51c320ea202e9823} - -\item -void {\bfseries unlock} ()\hypertarget{class_locker_aafb16768c3b3a911002622b886000882}{}\label{class_locker_aafb16768c3b3a911002622b886000882} - -\item -pthread\+\_\+mutex\+\_\+t $\ast$ {\bfseries get\+Lock\+Handle} ()\hypertarget{class_locker_aed8d8d8cd1b14246396c8739ea4396a2}{}\label{class_locker_aed8d8d8cd1b14246396c8739ea4396a2} - -\end{DoxyCompactItemize} -\subsection*{Protected Member Functions} -\begin{DoxyCompactItemize} -\item -void {\bfseries init} ()\hypertarget{class_locker_a5eb30006ff65236fae5f8e67d2fe007c}{}\label{class_locker_a5eb30006ff65236fae5f8e67d2fe007c} - -\item -void {\bfseries release} ()\hypertarget{class_locker_a4780a62c558c6460fc34fcd935847934}{}\label{class_locker_a4780a62c558c6460fc34fcd935847934} - -\end{DoxyCompactItemize} -\subsection*{Protected Attributes} -\begin{DoxyCompactItemize} -\item -pthread\+\_\+mutex\+\_\+t {\bfseries \+\_\+lock}\hypertarget{class_locker_ac54c95aad09ef586cf91999f662f5b09}{}\label{class_locker_ac54c95aad09ef586cf91999f662f5b09} - -\end{DoxyCompactItemize} - - -The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/locker.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/class_scoped_locker.tex b/sdk/doc/latex/class_scoped_locker.tex deleted file mode 100644 index 3cf8866..0000000 --- a/sdk/doc/latex/class_scoped_locker.tex +++ /dev/null @@ -1,31 +0,0 @@ -\hypertarget{class_scoped_locker}{}\section{Scoped\+Locker Class Reference} -\label{class_scoped_locker}\index{Scoped\+Locker@{Scoped\+Locker}} - - -Collaboration diagram for Scoped\+Locker\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=159pt]{class_scoped_locker__coll__graph} -\end{center} -\end{figure} -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -{\bfseries Scoped\+Locker} (\hyperlink{class_locker}{Locker} \&l)\hypertarget{class_scoped_locker_a934b25a7af086a7230e96256ab2f54be}{}\label{class_scoped_locker_a934b25a7af086a7230e96256ab2f54be} - -\item -void {\bfseries force\+Unlock} ()\hypertarget{class_scoped_locker_a5a9c0873fb7c11ea588b627497208a41}{}\label{class_scoped_locker_a5a9c0873fb7c11ea588b627497208a41} - -\end{DoxyCompactItemize} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -\hyperlink{class_locker}{Locker} \& {\bfseries \+\_\+binded}\hypertarget{class_scoped_locker_abfc68c3a65391f09b81de01492bc60be}{}\label{class_scoped_locker_abfc68c3a65391f09b81de01492bc60be} - -\end{DoxyCompactItemize} - - -The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/locker.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/class_scoped_locker__coll__graph.md5 b/sdk/doc/latex/class_scoped_locker__coll__graph.md5 deleted file mode 100644 index 0318e8c..0000000 --- a/sdk/doc/latex/class_scoped_locker__coll__graph.md5 +++ /dev/null @@ -1 +0,0 @@ -217f0a49bd698985b9a982949b5b469e \ No newline at end of file diff --git a/sdk/doc/latex/class_scoped_locker__coll__graph.pdf b/sdk/doc/latex/class_scoped_locker__coll__graph.pdf deleted file mode 100644 index d7ecd5ecbe37c91265cc01f7e863e4ffa1f89174..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 12111 zcmcJVbyOTr)9=yXF2UL04vV{caF^gtaCZor;BLX)-5r9vy96h=yIjam-{-mKp7)D2?1xlNSd#{x@QdsOxS%LHHmSnHd^a&rUdrHrgh983YsuaW{R z005vDHM4LqvU|N-=s6e(8yQ#|8o~1N!rD978R=QVx}?O(56FN6;ahj9J%;g6Q+V1` z1jRA%GVF_~AXd~g;_ZIkRGKVi2`Yaf;&9S`;NfehhO%S*$lffZ=2Z~c2?-oBHT7o#h3iKp<)UlG}O@WUqoVR1t=bg)fvPDCZ0-YY+qDAKHG zyPFy${Q$LwBCX=;00F2pq+$8X)hlIWqPqGGjVpvK1i4T{XQO&@^Np)rAGA zFok?s9OT1T->*F+m0XnFs2?4|$Py=(tK3vKerF3*cz<_Yh-2kX8>Qny@mcQ-f#EUh%*5h z-k!g;82?Vp?^KAmIEX1ayru!b&HX049`t$)uMGgbkN^M(pf}Kay}l;r^}!!kdQodD zhkscc(=yO909gJ??yJ%3=TB#>e>(%vE4kVj0qEuQOpJazmeaE{dL0M&S3i1bBSSMi zL2DO)=Bva20J3lZfUIl)t>4x{uRdSR?E!Cf^+yqj*;zZ<{A(V6jQ?BxYaxoSUhVX( z>}}qB8Myu>O8^|~9DmQ^ZM8zLR>DS3W(GzIVuEibe=bwO$llt~&cMhX@D?(Kf31q` zwf!Hp&Hnea{%^JY=H`!00DN5+3&Zav{UI;{*jboa{v|L0-rBEo_>&~lNBNziVx@fz~qWF6tuk2+`EM)@HAhr zz01oc-9+L&J~an7PvmKYLwJ-s=QJ902!9^PEuV^f2Q4mVpPFV`kPh&lJ80|M@7Ldh zo!Z#KJabK8Q-M`{;nd8U8scnr5$LRQVnFFgj{qU#u>?0(QK@SuTJGxV0{K|(%>=>` zi93%8rh6OIp*Rh`wRgAy;oBh$S|zI|CRTybF*`BTGl~FGQ}<5&Wp*5j(-#i}R#&Vd zB%~V3Mc;umhG%29ni>S4MIX?wUJk(`)k0K-U zoqTYIt!Lf%2PkMKdph&4?GLk6qcZKywnAbrS~O6Bz9ngxCp~v-`9~nOUI=H;5funn z`cIlTx<|)dg;1c)O@6Uk&vEcJwoah)Aowf%ASdLQPxOnJ5a6fwXEreQXCVA#Ad&fT z_`4_d2X2i%&wxhnpfAXubx!zLJUUr3@^PE$amT?Sd<0em+E%^EpTCVaHiFLTQe$y+E& z;~wZ4y?Recym<(7YP^fN1zvFheFomp=;8v>_1FTk<_!({oDY|(hz9*!e*H{V2vKSK z4*KOYhV14;c^n8k&-38yi2~=NrN>G0h*%K%ckP~Bo$oX~n?)j-1 zRCjl0_xU8J41azQ6wJ=v{rrLu4_g0eY|d^_s3fJd6Il}ksT~9aIsmM7yfMw9|Hl~8 z>CQWDe8R|GLUNFf0Z`jOo;Z+C%X)1-`PISC?n|z&ASqUK9r-+-urDYm=pZ&l&)@uA zKvOuqiS)cc@*hrimP=AHz2l(aK-pe^mcX+*Yf@MJTdEOZ?0kOExWBmFUO~l4*H_blI

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zv;9RrDEzq{1assp?!RfdH-hU=T8@K-h5avrjpM&rFW?)V_P+xewW7wXegNQmPq+gj zRx%}%Nt38D#TA_g^t@{Vd}vqX7fPS8pr&Ta9zyV2PgMM3aPqK73A!D-Ab=~MuO|BQh7 z-N9(Z11~}fPTA_q&rmu+$|gi+oGN$xrzLh`boG`KmKn?CYm$e9+eL1{xG|`k<6pVq&>{bl)fXJL3{ zQ{V1?_hx)e?yL5yznyiEXF{)-<4{=?wD;-|07^K1D6C=B$>?5qJmIv_J0D}ch(!NG=;{*}Ic z6;15)Y)s7z?CGrSOeiUT`;oJ=Hgq(2WvKu6-Tt9+f&YfH|JX}Hdap%pZSu$1Z>#we z%>Ad6i=B}%>?@Yb49oEM0bpfeVPXLo1OCuni-_Yj`)>!p>Q9Y$ }\\static \hyperlink{class_thread}{Thread} {\bfseries Thread\+Create\+Object\+Functor} (C\+L\+A\+SS $\ast$pthis)\hypertarget{class_thread_a3f90db7b5d45b275989c328ef070fb98}{}\label{class_thread_a3f90db7b5d45b275989c328ef070fb98} - -\item -{\footnotesize template$<$class C\+L\+A\+SS , int(\+C\+L\+A\+S\+S\+::$\ast$)(void) P\+R\+OC$>$ }\\static \+\_\+size\+\_\+t T\+H\+R\+E\+A\+D\+\_\+\+P\+R\+OC {\bfseries create\+Thread\+Aux} (void $\ast$param)\hypertarget{class_thread_ad54c62035ca2dcfc71c7e7181ce00454}{}\label{class_thread_ad54c62035ca2dcfc71c7e7181ce00454} - -\item -static \hyperlink{class_thread}{Thread} {\bfseries create\+Thread} (thread\+\_\+proc\+\_\+t proc, void $\ast$param=N\+U\+LL)\hypertarget{class_thread_a80157e1154d2a11085fc5a4fe9f9f1ea}{}\label{class_thread_a80157e1154d2a11085fc5a4fe9f9f1ea} - -\end{DoxyCompactItemize} -\subsection*{Protected Member Functions} -\begin{DoxyCompactItemize} -\item -{\bfseries Thread} (thread\+\_\+proc\+\_\+t proc, void $\ast$param)\hypertarget{class_thread_aa9198eddcbadc060866ec2eb2fae9ef6}{}\label{class_thread_aa9198eddcbadc060866ec2eb2fae9ef6} - -\end{DoxyCompactItemize} -\subsection*{Protected Attributes} -\begin{DoxyCompactItemize} -\item -void $\ast$ {\bfseries \+\_\+param}\hypertarget{class_thread_a59fd8af5b7f6acb58b0e0b40c4bfabdb}{}\label{class_thread_a59fd8af5b7f6acb58b0e0b40c4bfabdb} - -\item -thread\+\_\+proc\+\_\+t {\bfseries \+\_\+func}\hypertarget{class_thread_aa2d5e149d2dbab58296ba4c1da6b2b53}{}\label{class_thread_aa2d5e149d2dbab58296ba4c1da6b2b53} - -\item -\+\_\+size\+\_\+t {\bfseries \+\_\+handle}\hypertarget{class_thread_a1dace00cf3062a0525a479a8c0aea0ee}{}\label{class_thread_a1dace00cf3062a0525a479a8c0aea0ee} - -\end{DoxyCompactItemize} - - -The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/thread.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/classserial_1_1_millisecond_timer.tex b/sdk/doc/latex/classserial_1_1_millisecond_timer.tex deleted file mode 100644 index f183c5f..0000000 --- a/sdk/doc/latex/classserial_1_1_millisecond_timer.tex +++ /dev/null @@ -1,17 +0,0 @@ -\hypertarget{classserial_1_1_millisecond_timer}{}\section{serial\+:\+:Millisecond\+Timer Class Reference} -\label{classserial_1_1_millisecond_timer}\index{serial\+::\+Millisecond\+Timer@{serial\+::\+Millisecond\+Timer}} -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -{\bfseries Millisecond\+Timer} (const uint32\+\_\+t millis)\hypertarget{classserial_1_1_millisecond_timer_ac0f79f50e2859270bb1cb556377aee40}{}\label{classserial_1_1_millisecond_timer_ac0f79f50e2859270bb1cb556377aee40} - -\item -int64\+\_\+t {\bfseries remaining} ()\hypertarget{classserial_1_1_millisecond_timer_acb4d4e685a06fc7a2c24c90ac0970e35}{}\label{classserial_1_1_millisecond_timer_acb4d4e685a06fc7a2c24c90ac0970e35} - -\end{DoxyCompactItemize} - - -The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/src/impl/unix/unix\+\_\+serial.\+h\item -/home/yang/tmp/sdk/src/impl/unix/unix\+\_\+serial.\+cpp\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/classserial_1_1_serial.tex b/sdk/doc/latex/classserial_1_1_serial.tex deleted file mode 100644 index fb7d9b8..0000000 --- a/sdk/doc/latex/classserial_1_1_serial.tex +++ /dev/null @@ -1,791 +0,0 @@ -\hypertarget{classserial_1_1_serial}{}\section{serial\+:\+:Serial Class Reference} -\label{classserial_1_1_serial}\index{serial\+::\+Serial@{serial\+::\+Serial}} - - -{\ttfamily \#include $<$serial.\+h$>$} - -\subsection*{Classes} -\begin{DoxyCompactItemize} -\item -class \hyperlink{classserial_1_1_serial_1_1_scoped_read_lock}{Scoped\+Read\+Lock} -\item -class \hyperlink{classserial_1_1_serial_1_1_scoped_write_lock}{Scoped\+Write\+Lock} -\item -class \hyperlink{classserial_1_1serial_1_1_serial_1_1_serial_impl}{Serial\+Impl} -\end{DoxyCompactItemize} -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -\hyperlink{classserial_1_1_serial_aecbc4cc1723143805ae5a4aa79ba9332}{Serial} (const std\+::string \&port=\char`\"{}\char`\"{}, uint32\+\_\+t baudrate=9600, \hyperlink{structserial_1_1_timeout}{Timeout} timeout=\hyperlink{structserial_1_1_timeout}{Timeout}(), \hyperlink{namespaceserial_a00b3281fa11cea770c0b0c8a106080f8}{bytesize\+\_\+t} bytesize=eightbits, \hyperlink{namespaceserial_a8f45d26bf7c9a06659e75b5004a50481}{parity\+\_\+t} parity=parity\+\_\+none, \hyperlink{namespaceserial_af5b116611d6628a3aa8f788fdc09f469}{stopbits\+\_\+t} stopbits=stopbits\+\_\+one, \hyperlink{namespaceserial_a93ef57a314b4e562f9eded6c15d34351}{flowcontrol\+\_\+t} flowcontrol=flowcontrol\+\_\+none) -\item -virtual \hyperlink{classserial_1_1_serial_a071000a2f5f77a40df8311fad5044481}{$\sim$\+Serial} () -\item -bool \hyperlink{classserial_1_1_serial_aa4403ddb51e9d209fd86ed316f0ee9b4}{open} () -\item -bool \hyperlink{classserial_1_1_serial_a48458f741d0fdcc5623b4daa079cbf78}{is\+Open} () const -\item -void \hyperlink{classserial_1_1_serial_a501082725b61e4baf615266065bbac5f}{close} () -\item -size\+\_\+t \hyperlink{classserial_1_1_serial_ab5fae6cebb8e34345ca1f55cbccc4698}{available} () -\item -bool \hyperlink{classserial_1_1_serial_a59bd8d40309769e8eed91dd3684e0000}{wait\+Readable} () -\item -void \hyperlink{classserial_1_1_serial_a35c0f6ff20c142a5210dde288731f954}{wait\+Byte\+Times} (size\+\_\+t count) -\item -int {\bfseries waitfordata} (size\+\_\+t data\+\_\+count, uint32\+\_\+t timeout, size\+\_\+t $\ast$returned\+\_\+size)\hypertarget{classserial_1_1_serial_aa94e4ca3b2b803e3145c99fe063ae09b}{}\label{classserial_1_1_serial_aa94e4ca3b2b803e3145c99fe063ae09b} - -\item -size\+\_\+t \hyperlink{classserial_1_1_serial_a01fc2e3d77cb7d70069de87eca1400e9}{read} (uint8\+\_\+t $\ast$buffer, size\+\_\+t size) -\item -size\+\_\+t \hyperlink{classserial_1_1_serial_a3ecd4645c76548ba079eab6f2f46adfb}{read} (std\+::vector$<$ uint8\+\_\+t $>$ \&buffer, size\+\_\+t size=1) -\item -size\+\_\+t \hyperlink{classserial_1_1_serial_ad6c6637fdf8edd85c3a6a63d98fc18f7}{read} (std\+::string \&buffer, size\+\_\+t size=1) -\item -std\+::string \hyperlink{classserial_1_1_serial_aa52fbf7d23fb761a46e2400829d2b77a}{read} (size\+\_\+t size=1) -\item -size\+\_\+t \hyperlink{classserial_1_1_serial_a010b18ec545dfe1a7bb1c95be4bdaa54}{readline} (std\+::string \&buffer, size\+\_\+t size=65536, std\+::string eol=\char`\"{}\textbackslash{}n\char`\"{}) -\item -std\+::string \hyperlink{classserial_1_1_serial_a04177f637cc02f92ec0492d377528b2a}{readline} (size\+\_\+t size=65536, std\+::string eol=\char`\"{}\textbackslash{}n\char`\"{}) -\item -std\+::vector$<$ std\+::string $>$ \hyperlink{classserial_1_1_serial_a2ff222081c30ee4343498c6cc5c14b10}{readlines} (size\+\_\+t size=65536, std\+::string eol=\char`\"{}\textbackslash{}n\char`\"{}) -\item -size\+\_\+t \hyperlink{classserial_1_1_serial_a3275e8456850998c0ac46b2768ab9258}{write} (const uint8\+\_\+t $\ast$data, size\+\_\+t size) -\item -size\+\_\+t \hyperlink{classserial_1_1_serial_a9c2827088d82ee82f245ffa106fa7d10}{write} (const std\+::vector$<$ uint8\+\_\+t $>$ \&data) -\item -size\+\_\+t \hyperlink{classserial_1_1_serial_a7c92c0307b86a935f6623953eec66460}{write} (const std\+::string \&data) -\item -void \hyperlink{classserial_1_1_serial_a127104a1b211c46e4cad9002123e6ea8}{set\+Port} (const std\+::string \&port) -\item -std\+::string \hyperlink{classserial_1_1_serial_a56eafe1694c92655d79993ce7139f0bf}{get\+Port} () const -\item -void \hyperlink{classserial_1_1_serial_a5b1a4e05b1690d29ba1ae14a9079434c}{set\+Timeout} (\hyperlink{structserial_1_1_timeout}{Timeout} \&timeout) -\item -void \hyperlink{classserial_1_1_serial_a4b4be39af3e1c68bc6ac09cb55788c86}{set\+Timeout} (uint32\+\_\+t inter\+\_\+byte\+\_\+timeout, uint32\+\_\+t read\+\_\+timeout\+\_\+constant, uint32\+\_\+t read\+\_\+timeout\+\_\+multiplier, uint32\+\_\+t write\+\_\+timeout\+\_\+constant, uint32\+\_\+t write\+\_\+timeout\+\_\+multiplier) -\item -\hyperlink{structserial_1_1_timeout}{Timeout} \hyperlink{classserial_1_1_serial_a13023f118c75b27fa2f0280d2d1c2a20}{get\+Timeout} () const -\item -bool \hyperlink{classserial_1_1_serial_a05085fc22adee665698bdfd9b7b9783f}{set\+Baudrate} (uint32\+\_\+t baudrate) -\item -uint32\+\_\+t \hyperlink{classserial_1_1_serial_a7a6ca1f8d8e68742e95b7f8dc8e9a1fa}{get\+Baudrate} () const -\item -bool \hyperlink{classserial_1_1_serial_a8adf3dcd68fb1b85ce30c8b443e5868a}{set\+Bytesize} (\hyperlink{namespaceserial_a00b3281fa11cea770c0b0c8a106080f8}{bytesize\+\_\+t} bytesize) -\item -\hyperlink{namespaceserial_a00b3281fa11cea770c0b0c8a106080f8}{bytesize\+\_\+t} \hyperlink{classserial_1_1_serial_ac735ef88a54659e2d0b3ae674c5f0a41}{get\+Bytesize} () const -\item -bool \hyperlink{classserial_1_1_serial_af471db5d3a89128430e7e3c5389cd08a}{set\+Parity} (\hyperlink{namespaceserial_a8f45d26bf7c9a06659e75b5004a50481}{parity\+\_\+t} parity) -\item -\hyperlink{namespaceserial_a8f45d26bf7c9a06659e75b5004a50481}{parity\+\_\+t} \hyperlink{classserial_1_1_serial_a80e5d87b1e93b4c5a9d6f2cc7110b3c4}{get\+Parity} () const -\item -bool \hyperlink{classserial_1_1_serial_a0c690a31516cd11c521ba3aff4bafc4e}{set\+Stopbits} (\hyperlink{namespaceserial_af5b116611d6628a3aa8f788fdc09f469}{stopbits\+\_\+t} stopbits) -\item -\hyperlink{namespaceserial_af5b116611d6628a3aa8f788fdc09f469}{stopbits\+\_\+t} \hyperlink{classserial_1_1_serial_a81ee96ec2fdb80d1851430d9e2c4698b}{get\+Stopbits} () const -\item -bool \hyperlink{classserial_1_1_serial_a76e56ce22e2706b8954a1dc9c5188c92}{set\+Flowcontrol} (\hyperlink{namespaceserial_a93ef57a314b4e562f9eded6c15d34351}{flowcontrol\+\_\+t} flowcontrol) -\item -\hyperlink{namespaceserial_a93ef57a314b4e562f9eded6c15d34351}{flowcontrol\+\_\+t} \hyperlink{classserial_1_1_serial_ad793526755625a59a0bf9d4cc0ea1755}{get\+Flowcontrol} () const -\item -void \hyperlink{classserial_1_1_serial_a45a7676a6e6c775cd549e889e714b5bb}{flush} () -\item -void \hyperlink{classserial_1_1_serial_aa7432cbada95a7eac6d71a107cf2eaa3}{flush\+Input} () -\item -void \hyperlink{classserial_1_1_serial_a95e0d6dcf2b7b9aa45225bfb1647c427}{flush\+Output} () -\item -void \hyperlink{classserial_1_1_serial_ab35e474beb136258cbeb04978be27455}{send\+Break} (int duration) -\item -bool \hyperlink{classserial_1_1_serial_abb7eef9db06c582e2e504733b4150968}{set\+Break} (bool level=true) -\item -bool \hyperlink{classserial_1_1_serial_a7c91f22768107389f52d80d691994fc7}{set\+R\+TS} (bool level=true) -\item -bool \hyperlink{classserial_1_1_serial_a4c8a44a1e6ce42f8cb521d9a4e10bc59}{set\+D\+TR} (bool level=true) -\item -bool \hyperlink{classserial_1_1_serial_a9d889dc0ec2cec50a620650f10cf8e83}{wait\+For\+Change} () -\item -bool \hyperlink{classserial_1_1_serial_a97603438c9ded81a886f914b7a335d7f}{get\+C\+TS} () -\item -bool \hyperlink{classserial_1_1_serial_a91a00816bce6a163ea022b4cf8d4ce0e}{get\+D\+SR} () -\item -bool \hyperlink{classserial_1_1_serial_a29a1f68b9a238e9a6a833373855708ce}{get\+RI} () -\item -bool \hyperlink{classserial_1_1_serial_a5a7c1a8e363b530147970155d0f6fe8d}{get\+CD} () -\item -uint32\+\_\+t \hyperlink{classserial_1_1_serial_a8b7ad05b2521db6bbf184108f59e105e}{get\+Byte\+Time} () -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Class that provides a portable serial port interface. - -\subsection{Constructor \& Destructor Documentation} -\index{serial\+::\+Serial@{serial\+::\+Serial}!Serial@{Serial}} -\index{Serial@{Serial}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{Serial(const std\+::string \&port="""", uint32\+\_\+t baudrate=9600, Timeout timeout=\+Timeout(), bytesize\+\_\+t bytesize=eightbits, parity\+\_\+t parity=parity\+\_\+none, stopbits\+\_\+t stopbits=stopbits\+\_\+one, flowcontrol\+\_\+t flowcontrol=flowcontrol\+\_\+none)}{Serial(const std::string &port="", uint32_t baudrate=9600, Timeout timeout=Timeout(), bytesize_t bytesize=eightbits, parity_t parity=parity_none, stopbits_t stopbits=stopbits_one, flowcontrol_t flowcontrol=flowcontrol_none)}}]{\setlength{\rightskip}{0pt plus 5cm}serial\+::\+Serial\+::\+Serial ( -\begin{DoxyParamCaption} -\item[{const std\+::string \&}]{port = {\ttfamily \char`\"{}\char`\"{}}, } -\item[{uint32\+\_\+t}]{baudrate = {\ttfamily 9600}, } -\item[{{\bf Timeout}}]{timeout = {\ttfamily {\bf Timeout}()}, } -\item[{{\bf bytesize\+\_\+t}}]{bytesize = {\ttfamily eightbits}, } -\item[{{\bf parity\+\_\+t}}]{parity = {\ttfamily parity\+\_\+none}, } -\item[{{\bf stopbits\+\_\+t}}]{stopbits = {\ttfamily stopbits\+\_\+one}, } -\item[{{\bf flowcontrol\+\_\+t}}]{flowcontrol = {\ttfamily flowcontrol\+\_\+none}} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [explicit]}}\hypertarget{classserial_1_1_serial_aecbc4cc1723143805ae5a4aa79ba9332}{}\label{classserial_1_1_serial_aecbc4cc1723143805ae5a4aa79ba9332} -Creates a \hyperlink{classserial_1_1_serial}{Serial} object and opens the port if a port is specified, otherwise it remains closed until \hyperlink{classserial_1_1_serial_aa4403ddb51e9d209fd86ed316f0ee9b4}{serial\+::\+Serial\+::open} is called. - - -\begin{DoxyParams}{Parameters} -{\em port} & A std\+::string containing the address of the serial port, which would be something like \textquotesingle{}C\+O\+M1\textquotesingle{} on Windows and \textquotesingle{}/dev/tty\+S0\textquotesingle{} on Linux.\\ -\hline -{\em baudrate} & An unsigned 32-\/bit integer that represents the baudrate\\ -\hline -{\em timeout} & A \hyperlink{structserial_1_1_timeout}{serial\+::\+Timeout} struct that defines the timeout conditions for the serial port. \\ -\hline -\end{DoxyParams} -\begin{DoxySeeAlso}{See also} -\hyperlink{structserial_1_1_timeout}{serial\+::\+Timeout} -\end{DoxySeeAlso} - -\begin{DoxyParams}{Parameters} -{\em bytesize} & Size of each byte in the serial transmission of data, default is eightbits, possible values are\+: fivebits, sixbits, sevenbits, eightbits\\ -\hline -{\em parity} & Method of parity, default is parity\+\_\+none, possible values are\+: parity\+\_\+none, parity\+\_\+odd, parity\+\_\+even\\ -\hline -{\em stopbits} & Number of stop bits used, default is stopbits\+\_\+one, possible values are\+: stopbits\+\_\+one, stopbits\+\_\+one\+\_\+point\+\_\+five, stopbits\+\_\+two\\ -\hline -{\em flowcontrol} & Type of flowcontrol used, default is flowcontrol\+\_\+none, possible values are\+: flowcontrol\+\_\+none, flowcontrol\+\_\+software, flowcontrol\+\_\+hardware\\ -\hline -\end{DoxyParams} - -\begin{DoxyExceptions}{Exceptions} -{\em serial\+::\+Port\+Not\+Opened\+Exception} & \\ -\hline -{\em serial\+::\+I\+O\+Exception} & \\ -\hline -{\em std\+::invalid\+\_\+argument} & \\ -\hline -\end{DoxyExceptions} -\index{serial\+::\+Serial@{serial\+::\+Serial}!````~Serial@{$\sim$\+Serial}} -\index{````~Serial@{$\sim$\+Serial}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{$\sim$\+Serial()}{~Serial()}}]{\setlength{\rightskip}{0pt plus 5cm}serial\+::\+Serial\+::$\sim$\+Serial ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [virtual]}}\hypertarget{classserial_1_1_serial_a071000a2f5f77a40df8311fad5044481}{}\label{classserial_1_1_serial_a071000a2f5f77a40df8311fad5044481} -Destructor - -\subsection{Member Function Documentation} -\index{serial\+::\+Serial@{serial\+::\+Serial}!available@{available}} -\index{available@{available}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{available()}{available()}}]{\setlength{\rightskip}{0pt plus 5cm}size\+\_\+t serial\+::\+Serial\+::available ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_ab5fae6cebb8e34345ca1f55cbccc4698}{}\label{classserial_1_1_serial_ab5fae6cebb8e34345ca1f55cbccc4698} -Return the number of characters in the buffer. \index{serial\+::\+Serial@{serial\+::\+Serial}!close@{close}} -\index{close@{close}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{close()}{close()}}]{\setlength{\rightskip}{0pt plus 5cm}void serial\+::\+Serial\+::close ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a501082725b61e4baf615266065bbac5f}{}\label{classserial_1_1_serial_a501082725b61e4baf615266065bbac5f} -Closes the serial port. \index{serial\+::\+Serial@{serial\+::\+Serial}!flush@{flush}} -\index{flush@{flush}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{flush()}{flush()}}]{\setlength{\rightskip}{0pt plus 5cm}void serial\+::\+Serial\+::flush ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a45a7676a6e6c775cd549e889e714b5bb}{}\label{classserial_1_1_serial_a45a7676a6e6c775cd549e889e714b5bb} -Flush the input and output buffers \index{serial\+::\+Serial@{serial\+::\+Serial}!flush\+Input@{flush\+Input}} -\index{flush\+Input@{flush\+Input}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{flush\+Input()}{flushInput()}}]{\setlength{\rightskip}{0pt plus 5cm}void serial\+::\+Serial\+::flush\+Input ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_aa7432cbada95a7eac6d71a107cf2eaa3}{}\label{classserial_1_1_serial_aa7432cbada95a7eac6d71a107cf2eaa3} -Flush only the input buffer \index{serial\+::\+Serial@{serial\+::\+Serial}!flush\+Output@{flush\+Output}} -\index{flush\+Output@{flush\+Output}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{flush\+Output()}{flushOutput()}}]{\setlength{\rightskip}{0pt plus 5cm}void serial\+::\+Serial\+::flush\+Output ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a95e0d6dcf2b7b9aa45225bfb1647c427}{}\label{classserial_1_1_serial_a95e0d6dcf2b7b9aa45225bfb1647c427} -Flush only the output buffer \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+Baudrate@{get\+Baudrate}} -\index{get\+Baudrate@{get\+Baudrate}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+Baudrate() const }{getBaudrate() const }}]{\setlength{\rightskip}{0pt plus 5cm}uint32\+\_\+t serial\+::\+Serial\+::get\+Baudrate ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classserial_1_1_serial_a7a6ca1f8d8e68742e95b7f8dc8e9a1fa}{}\label{classserial_1_1_serial_a7a6ca1f8d8e68742e95b7f8dc8e9a1fa} -Gets the baudrate for the serial port. - -\begin{DoxyReturn}{Returns} -An integer that sets the baud rate for the serial port. -\end{DoxyReturn} -\begin{DoxySeeAlso}{See also} -\hyperlink{classserial_1_1_serial_a05085fc22adee665698bdfd9b7b9783f}{Serial\+::set\+Baudrate} -\end{DoxySeeAlso} -\textbackslash{} \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+Bytesize@{get\+Bytesize}} -\index{get\+Bytesize@{get\+Bytesize}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+Bytesize() const }{getBytesize() const }}]{\setlength{\rightskip}{0pt plus 5cm}{\bf bytesize\+\_\+t} serial\+::\+Serial\+::get\+Bytesize ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classserial_1_1_serial_ac735ef88a54659e2d0b3ae674c5f0a41}{}\label{classserial_1_1_serial_ac735ef88a54659e2d0b3ae674c5f0a41} -Gets the bytesize for the serial port. - -\begin{DoxySeeAlso}{See also} -\hyperlink{classserial_1_1_serial_a8adf3dcd68fb1b85ce30c8b443e5868a}{Serial\+::set\+Bytesize} -\end{DoxySeeAlso} -\textbackslash{} \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+Byte\+Time@{get\+Byte\+Time}} -\index{get\+Byte\+Time@{get\+Byte\+Time}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+Byte\+Time()}{getByteTime()}}]{\setlength{\rightskip}{0pt plus 5cm}uint32\+\_\+t serial\+::\+Serial\+::get\+Byte\+Time ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a8b7ad05b2521db6bbf184108f59e105e}{}\label{classserial_1_1_serial_a8b7ad05b2521db6bbf184108f59e105e} -Returns the singal byte time. \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+CD@{get\+CD}} -\index{get\+CD@{get\+CD}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+C\+D()}{getCD()}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::get\+CD ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a5a7c1a8e363b530147970155d0f6fe8d}{}\label{classserial_1_1_serial_a5a7c1a8e363b530147970155d0f6fe8d} -Returns the current status of the CD line. \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+C\+TS@{get\+C\+TS}} -\index{get\+C\+TS@{get\+C\+TS}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+C\+T\+S()}{getCTS()}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::get\+C\+TS ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a97603438c9ded81a886f914b7a335d7f}{}\label{classserial_1_1_serial_a97603438c9ded81a886f914b7a335d7f} -Returns the current status of the C\+TS line. \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+D\+SR@{get\+D\+SR}} -\index{get\+D\+SR@{get\+D\+SR}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+D\+S\+R()}{getDSR()}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::get\+D\+SR ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a91a00816bce6a163ea022b4cf8d4ce0e}{}\label{classserial_1_1_serial_a91a00816bce6a163ea022b4cf8d4ce0e} -Returns the current status of the D\+SR line. \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+Flowcontrol@{get\+Flowcontrol}} -\index{get\+Flowcontrol@{get\+Flowcontrol}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+Flowcontrol() const }{getFlowcontrol() const }}]{\setlength{\rightskip}{0pt plus 5cm}{\bf flowcontrol\+\_\+t} serial\+::\+Serial\+::get\+Flowcontrol ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classserial_1_1_serial_ad793526755625a59a0bf9d4cc0ea1755}{}\label{classserial_1_1_serial_ad793526755625a59a0bf9d4cc0ea1755} -Gets the flow control for the serial port. - -\begin{DoxySeeAlso}{See also} -\hyperlink{classserial_1_1_serial_a76e56ce22e2706b8954a1dc9c5188c92}{Serial\+::set\+Flowcontrol} -\end{DoxySeeAlso} -\textbackslash{} \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+Parity@{get\+Parity}} -\index{get\+Parity@{get\+Parity}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+Parity() const }{getParity() const }}]{\setlength{\rightskip}{0pt plus 5cm}{\bf parity\+\_\+t} serial\+::\+Serial\+::get\+Parity ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classserial_1_1_serial_a80e5d87b1e93b4c5a9d6f2cc7110b3c4}{}\label{classserial_1_1_serial_a80e5d87b1e93b4c5a9d6f2cc7110b3c4} -Gets the parity for the serial port. - -\begin{DoxySeeAlso}{See also} -\hyperlink{classserial_1_1_serial_af471db5d3a89128430e7e3c5389cd08a}{Serial\+::set\+Parity} -\end{DoxySeeAlso} -\textbackslash{} \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+Port@{get\+Port}} -\index{get\+Port@{get\+Port}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+Port() const }{getPort() const }}]{\setlength{\rightskip}{0pt plus 5cm}string serial\+::\+Serial\+::get\+Port ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classserial_1_1_serial_a56eafe1694c92655d79993ce7139f0bf}{}\label{classserial_1_1_serial_a56eafe1694c92655d79993ce7139f0bf} -Gets the serial port identifier. - -\begin{DoxySeeAlso}{See also} -\hyperlink{classserial_1_1_serial_a127104a1b211c46e4cad9002123e6ea8}{Serial\+::set\+Port} -\end{DoxySeeAlso} - -\begin{DoxyExceptions}{Exceptions} -{\em std\+::invalid\+\_\+argument} & \\ -\hline -\end{DoxyExceptions} -\index{serial\+::\+Serial@{serial\+::\+Serial}!get\+RI@{get\+RI}} -\index{get\+RI@{get\+RI}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+R\+I()}{getRI()}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::get\+RI ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a29a1f68b9a238e9a6a833373855708ce}{}\label{classserial_1_1_serial_a29a1f68b9a238e9a6a833373855708ce} -Returns the current status of the RI line. \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+Stopbits@{get\+Stopbits}} -\index{get\+Stopbits@{get\+Stopbits}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+Stopbits() const }{getStopbits() const }}]{\setlength{\rightskip}{0pt plus 5cm}{\bf stopbits\+\_\+t} serial\+::\+Serial\+::get\+Stopbits ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classserial_1_1_serial_a81ee96ec2fdb80d1851430d9e2c4698b}{}\label{classserial_1_1_serial_a81ee96ec2fdb80d1851430d9e2c4698b} -Gets the stopbits for the serial port. - -\begin{DoxySeeAlso}{See also} -\hyperlink{classserial_1_1_serial_a0c690a31516cd11c521ba3aff4bafc4e}{Serial\+::set\+Stopbits} -\end{DoxySeeAlso} -\textbackslash{} \index{serial\+::\+Serial@{serial\+::\+Serial}!get\+Timeout@{get\+Timeout}} -\index{get\+Timeout@{get\+Timeout}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{get\+Timeout() const }{getTimeout() const }}]{\setlength{\rightskip}{0pt plus 5cm}{\bf serial\+::\+Timeout} serial\+::\+Serial\+::get\+Timeout ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classserial_1_1_serial_a13023f118c75b27fa2f0280d2d1c2a20}{}\label{classserial_1_1_serial_a13023f118c75b27fa2f0280d2d1c2a20} -Gets the timeout for reads in seconds. - -\begin{DoxyReturn}{Returns} -A \hyperlink{structserial_1_1_timeout}{Timeout} struct containing the inter\+\_\+byte\+\_\+timeout, and read and write timeout constants and multipliers. -\end{DoxyReturn} -\begin{DoxySeeAlso}{See also} -\hyperlink{classserial_1_1_serial_a5b1a4e05b1690d29ba1ae14a9079434c}{Serial\+::set\+Timeout} -\end{DoxySeeAlso} -\index{serial\+::\+Serial@{serial\+::\+Serial}!is\+Open@{is\+Open}} -\index{is\+Open@{is\+Open}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{is\+Open() const }{isOpen() const }}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::is\+Open ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classserial_1_1_serial_a48458f741d0fdcc5623b4daa079cbf78}{}\label{classserial_1_1_serial_a48458f741d0fdcc5623b4daa079cbf78} -Gets the open status of the serial port. - -\begin{DoxyReturn}{Returns} -Returns true if the port is open, false otherwise. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!open@{open}} -\index{open@{open}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{open()}{open()}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::open ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_aa4403ddb51e9d209fd86ed316f0ee9b4}{}\label{classserial_1_1_serial_aa4403ddb51e9d209fd86ed316f0ee9b4} -Opens the serial port as long as the port is set and the port isn\textquotesingle{}t already open. - -If the port is provided to the constructor then an explicit call to open is not needed. - -\begin{DoxySeeAlso}{See also} -\hyperlink{classserial_1_1_serial_aecbc4cc1723143805ae5a4aa79ba9332}{Serial\+::\+Serial} -\end{DoxySeeAlso} -\begin{DoxyReturn}{Returns} -Returns true if the port is open, false otherwise. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!read@{read}} -\index{read@{read}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{read(uint8\+\_\+t $\ast$buffer, size\+\_\+t size)}{read(uint8_t *buffer, size_t size)}}]{\setlength{\rightskip}{0pt plus 5cm}size\+\_\+t serial\+::\+Serial\+::read ( -\begin{DoxyParamCaption} -\item[{uint8\+\_\+t $\ast$}]{buffer, } -\item[{size\+\_\+t}]{size} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a01fc2e3d77cb7d70069de87eca1400e9}{}\label{classserial_1_1_serial_a01fc2e3d77cb7d70069de87eca1400e9} -Read a given amount of bytes from the serial port into a given buffer. - -The read function will return in one of three cases\+: -\begin{DoxyItemize} -\item The number of requested bytes was read. -\begin{DoxyItemize} -\item In this case the number of bytes requested will match the size\+\_\+t returned by read. -\end{DoxyItemize} -\item A timeout occurred, in this case the number of bytes read will not match the amount requested, but no exception will be thrown. One of two possible timeouts occurred\+: -\begin{DoxyItemize} -\item The inter byte timeout expired, this means that number of milliseconds elapsed between receiving bytes from the serial port exceeded the inter byte timeout. -\item The total timeout expired, which is calculated by multiplying the read timeout multiplier by the number of requested bytes and then added to the read timeout constant. If that total number of milliseconds elapses after the initial call to read a timeout will occur. -\end{DoxyItemize} -\item An exception occurred, in this case an actual exception will be thrown. -\end{DoxyItemize} - - -\begin{DoxyParams}{Parameters} -{\em buffer} & An uint8\+\_\+t array of at least the requested size. \\ -\hline -{\em size} & A size\+\_\+t defining how many bytes to be read.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A size\+\_\+t representing the number of bytes read as a result of the call to read. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!read@{read}} -\index{read@{read}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{read(std\+::vector$<$ uint8\+\_\+t $>$ \&buffer, size\+\_\+t size=1)}{read(std::vector< uint8_t > &buffer, size_t size=1)}}]{\setlength{\rightskip}{0pt plus 5cm}size\+\_\+t serial\+::\+Serial\+::read ( -\begin{DoxyParamCaption} -\item[{std\+::vector$<$ uint8\+\_\+t $>$ \&}]{buffer, } -\item[{size\+\_\+t}]{size = {\ttfamily 1}} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a3ecd4645c76548ba079eab6f2f46adfb}{}\label{classserial_1_1_serial_a3ecd4645c76548ba079eab6f2f46adfb} -Read a given amount of bytes from the serial port into a give buffer. - - -\begin{DoxyParams}{Parameters} -{\em buffer} & A reference to a std\+::vector of uint8\+\_\+t. \\ -\hline -{\em size} & A size\+\_\+t defining how many bytes to be read.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A size\+\_\+t representing the number of bytes read as a result of the call to read. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!read@{read}} -\index{read@{read}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{read(std\+::string \&buffer, size\+\_\+t size=1)}{read(std::string &buffer, size_t size=1)}}]{\setlength{\rightskip}{0pt plus 5cm}size\+\_\+t serial\+::\+Serial\+::read ( -\begin{DoxyParamCaption} -\item[{std\+::string \&}]{buffer, } -\item[{size\+\_\+t}]{size = {\ttfamily 1}} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_ad6c6637fdf8edd85c3a6a63d98fc18f7}{}\label{classserial_1_1_serial_ad6c6637fdf8edd85c3a6a63d98fc18f7} -Read a given amount of bytes from the serial port into a give buffer. - - -\begin{DoxyParams}{Parameters} -{\em buffer} & A reference to a std\+::string. \\ -\hline -{\em size} & A size\+\_\+t defining how many bytes to be read.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A size\+\_\+t representing the number of bytes read as a result of the call to read. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!read@{read}} -\index{read@{read}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{read(size\+\_\+t size=1)}{read(size_t size=1)}}]{\setlength{\rightskip}{0pt plus 5cm}string serial\+::\+Serial\+::read ( -\begin{DoxyParamCaption} -\item[{size\+\_\+t}]{size = {\ttfamily 1}} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_aa52fbf7d23fb761a46e2400829d2b77a}{}\label{classserial_1_1_serial_aa52fbf7d23fb761a46e2400829d2b77a} -Read a given amount of bytes from the serial port and return a string containing the data. - - -\begin{DoxyParams}{Parameters} -{\em size} & A size\+\_\+t defining how many bytes to be read.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A std\+::string containing the data read from the port. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!readline@{readline}} -\index{readline@{readline}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{readline(std\+::string \&buffer, size\+\_\+t size=65536, std\+::string eol=""\textbackslash{}n"")}{readline(std::string &buffer, size_t size=65536, std::string eol="\textbackslash{}n")}}]{\setlength{\rightskip}{0pt plus 5cm}size\+\_\+t serial\+::\+Serial\+::readline ( -\begin{DoxyParamCaption} -\item[{std\+::string \&}]{buffer, } -\item[{size\+\_\+t}]{size = {\ttfamily 65536}, } -\item[{std\+::string}]{eol = {\ttfamily \char`\"{}\textbackslash{}n\char`\"{}}} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a010b18ec545dfe1a7bb1c95be4bdaa54}{}\label{classserial_1_1_serial_a010b18ec545dfe1a7bb1c95be4bdaa54} -Reads in a line or until a given delimiter has been processed. - -Reads from the serial port until a single line has been read. - - -\begin{DoxyParams}{Parameters} -{\em buffer} & A std\+::string reference used to store the data. \\ -\hline -{\em size} & A maximum length of a line, defaults to 65536 (2$^\wedge$16) \\ -\hline -{\em eol} & A string to match against for the E\+OL.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A size\+\_\+t representing the number of bytes read. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!readline@{readline}} -\index{readline@{readline}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{readline(size\+\_\+t size=65536, std\+::string eol=""\textbackslash{}n"")}{readline(size_t size=65536, std::string eol="\textbackslash{}n")}}]{\setlength{\rightskip}{0pt plus 5cm}std\+::string serial\+::\+Serial\+::readline ( -\begin{DoxyParamCaption} -\item[{size\+\_\+t}]{size = {\ttfamily 65536}, } -\item[{std\+::string}]{eol = {\ttfamily \char`\"{}\textbackslash{}n\char`\"{}}} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a04177f637cc02f92ec0492d377528b2a}{}\label{classserial_1_1_serial_a04177f637cc02f92ec0492d377528b2a} -Reads in a line or until a given delimiter has been processed. - -Reads from the serial port until a single line has been read. - - -\begin{DoxyParams}{Parameters} -{\em size} & A maximum length of a line, defaults to 65536 (2$^\wedge$16) \\ -\hline -{\em eol} & A string to match against for the E\+OL.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A std\+::string containing the line. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!readlines@{readlines}} -\index{readlines@{readlines}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{readlines(size\+\_\+t size=65536, std\+::string eol=""\textbackslash{}n"")}{readlines(size_t size=65536, std::string eol="\textbackslash{}n")}}]{\setlength{\rightskip}{0pt plus 5cm}vector$<$ string $>$ serial\+::\+Serial\+::readlines ( -\begin{DoxyParamCaption} -\item[{size\+\_\+t}]{size = {\ttfamily 65536}, } -\item[{std\+::string}]{eol = {\ttfamily \char`\"{}\textbackslash{}n\char`\"{}}} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a2ff222081c30ee4343498c6cc5c14b10}{}\label{classserial_1_1_serial_a2ff222081c30ee4343498c6cc5c14b10} -Reads in multiple lines until the serial port times out. - -This requires a timeout $>$ 0 before it can be run. It will read until a timeout occurs and return a list of strings. - - -\begin{DoxyParams}{Parameters} -{\em size} & A maximum length of combined lines, defaults to 65536 (2$^\wedge$16)\\ -\hline -{\em eol} & A string to match against for the E\+OL.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A vector$<$string$>$ containing the lines. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!send\+Break@{send\+Break}} -\index{send\+Break@{send\+Break}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{send\+Break(int duration)}{sendBreak(int duration)}}]{\setlength{\rightskip}{0pt plus 5cm}void serial\+::\+Serial\+::send\+Break ( -\begin{DoxyParamCaption} -\item[{int}]{duration} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_ab35e474beb136258cbeb04978be27455}{}\label{classserial_1_1_serial_ab35e474beb136258cbeb04978be27455} -Sends the R\+S-\/232 break signal. See tcsendbreak(3). \index{serial\+::\+Serial@{serial\+::\+Serial}!set\+Baudrate@{set\+Baudrate}} -\index{set\+Baudrate@{set\+Baudrate}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+Baudrate(uint32\+\_\+t baudrate)}{setBaudrate(uint32_t baudrate)}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::set\+Baudrate ( -\begin{DoxyParamCaption} -\item[{uint32\+\_\+t}]{baudrate} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a05085fc22adee665698bdfd9b7b9783f}{}\label{classserial_1_1_serial_a05085fc22adee665698bdfd9b7b9783f} -Sets the baudrate for the serial port. - -Possible baudrates depends on the system but some safe baudrates include\+: 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 56000, 57600, 115200 Some other baudrates that are supported by some comports\+: 128000, 153600, 230400, 256000, 460800, 921600 - - -\begin{DoxyParams}{Parameters} -{\em baudrate} & An integer that sets the baud rate for the serial port. \\ -\hline -\end{DoxyParams} -\index{serial\+::\+Serial@{serial\+::\+Serial}!set\+Break@{set\+Break}} -\index{set\+Break@{set\+Break}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+Break(bool level=true)}{setBreak(bool level=true)}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::set\+Break ( -\begin{DoxyParamCaption} -\item[{bool}]{level = {\ttfamily true}} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_abb7eef9db06c582e2e504733b4150968}{}\label{classserial_1_1_serial_abb7eef9db06c582e2e504733b4150968} -Set the break condition to a given level. Defaults to true. \index{serial\+::\+Serial@{serial\+::\+Serial}!set\+Bytesize@{set\+Bytesize}} -\index{set\+Bytesize@{set\+Bytesize}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+Bytesize(bytesize\+\_\+t bytesize)}{setBytesize(bytesize_t bytesize)}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::set\+Bytesize ( -\begin{DoxyParamCaption} -\item[{{\bf bytesize\+\_\+t}}]{bytesize} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a8adf3dcd68fb1b85ce30c8b443e5868a}{}\label{classserial_1_1_serial_a8adf3dcd68fb1b85ce30c8b443e5868a} -Sets the bytesize for the serial port. - - -\begin{DoxyParams}{Parameters} -{\em bytesize} & Size of each byte in the serial transmission of data, default is eightbits, possible values are\+: fivebits, sixbits, sevenbits, eightbits\\ -\hline -\end{DoxyParams} -\textbackslash{} \index{serial\+::\+Serial@{serial\+::\+Serial}!set\+D\+TR@{set\+D\+TR}} -\index{set\+D\+TR@{set\+D\+TR}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+D\+T\+R(bool level=true)}{setDTR(bool level=true)}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::set\+D\+TR ( -\begin{DoxyParamCaption} -\item[{bool}]{level = {\ttfamily true}} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a4c8a44a1e6ce42f8cb521d9a4e10bc59}{}\label{classserial_1_1_serial_a4c8a44a1e6ce42f8cb521d9a4e10bc59} -Set the D\+TR handshaking line to the given level. Defaults to true. \index{serial\+::\+Serial@{serial\+::\+Serial}!set\+Flowcontrol@{set\+Flowcontrol}} -\index{set\+Flowcontrol@{set\+Flowcontrol}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+Flowcontrol(flowcontrol\+\_\+t flowcontrol)}{setFlowcontrol(flowcontrol_t flowcontrol)}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::set\+Flowcontrol ( -\begin{DoxyParamCaption} -\item[{{\bf flowcontrol\+\_\+t}}]{flowcontrol} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a76e56ce22e2706b8954a1dc9c5188c92}{}\label{classserial_1_1_serial_a76e56ce22e2706b8954a1dc9c5188c92} -Sets the flow control for the serial port. - - -\begin{DoxyParams}{Parameters} -{\em flowcontrol} & Type of flowcontrol used, default is flowcontrol\+\_\+none, possible values are\+: flowcontrol\+\_\+none, flowcontrol\+\_\+software, flowcontrol\+\_\+hardware\\ -\hline -\end{DoxyParams} -\textbackslash{} \index{serial\+::\+Serial@{serial\+::\+Serial}!set\+Parity@{set\+Parity}} -\index{set\+Parity@{set\+Parity}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+Parity(parity\+\_\+t parity)}{setParity(parity_t parity)}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::set\+Parity ( -\begin{DoxyParamCaption} -\item[{{\bf parity\+\_\+t}}]{parity} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_af471db5d3a89128430e7e3c5389cd08a}{}\label{classserial_1_1_serial_af471db5d3a89128430e7e3c5389cd08a} -Sets the parity for the serial port. - - -\begin{DoxyParams}{Parameters} -{\em parity} & Method of parity, default is parity\+\_\+none, possible values are\+: parity\+\_\+none, parity\+\_\+odd, parity\+\_\+even\\ -\hline -\end{DoxyParams} -\textbackslash{} \index{serial\+::\+Serial@{serial\+::\+Serial}!set\+Port@{set\+Port}} -\index{set\+Port@{set\+Port}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+Port(const std\+::string \&port)}{setPort(const std::string &port)}}]{\setlength{\rightskip}{0pt plus 5cm}void serial\+::\+Serial\+::set\+Port ( -\begin{DoxyParamCaption} -\item[{const std\+::string \&}]{port} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a127104a1b211c46e4cad9002123e6ea8}{}\label{classserial_1_1_serial_a127104a1b211c46e4cad9002123e6ea8} -Sets the serial port identifier. - - -\begin{DoxyParams}{Parameters} -{\em port} & A const std\+::string reference containing the address of the serial port, which would be something like \textquotesingle{}C\+O\+M1\textquotesingle{} on Windows and \textquotesingle{}/dev/tty\+S0\textquotesingle{} on Linux.\\ -\hline -\end{DoxyParams} - -\begin{DoxyExceptions}{Exceptions} -{\em std\+::invalid\+\_\+argument} & \\ -\hline -\end{DoxyExceptions} -\index{serial\+::\+Serial@{serial\+::\+Serial}!set\+R\+TS@{set\+R\+TS}} -\index{set\+R\+TS@{set\+R\+TS}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+R\+T\+S(bool level=true)}{setRTS(bool level=true)}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::set\+R\+TS ( -\begin{DoxyParamCaption} -\item[{bool}]{level = {\ttfamily true}} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a7c91f22768107389f52d80d691994fc7}{}\label{classserial_1_1_serial_a7c91f22768107389f52d80d691994fc7} -Set the R\+TS handshaking line to the given level. Defaults to true. \index{serial\+::\+Serial@{serial\+::\+Serial}!set\+Stopbits@{set\+Stopbits}} -\index{set\+Stopbits@{set\+Stopbits}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+Stopbits(stopbits\+\_\+t stopbits)}{setStopbits(stopbits_t stopbits)}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::set\+Stopbits ( -\begin{DoxyParamCaption} -\item[{{\bf stopbits\+\_\+t}}]{stopbits} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a0c690a31516cd11c521ba3aff4bafc4e}{}\label{classserial_1_1_serial_a0c690a31516cd11c521ba3aff4bafc4e} -Sets the stopbits for the serial port. - - -\begin{DoxyParams}{Parameters} -{\em stopbits} & Number of stop bits used, default is stopbits\+\_\+one, possible values are\+: stopbits\+\_\+one, stopbits\+\_\+one\+\_\+point\+\_\+five, stopbits\+\_\+two\\ -\hline -\end{DoxyParams} -\textbackslash{} \index{serial\+::\+Serial@{serial\+::\+Serial}!set\+Timeout@{set\+Timeout}} -\index{set\+Timeout@{set\+Timeout}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+Timeout(\+Timeout \&timeout)}{setTimeout(Timeout &timeout)}}]{\setlength{\rightskip}{0pt plus 5cm}void serial\+::\+Serial\+::set\+Timeout ( -\begin{DoxyParamCaption} -\item[{{\bf serial\+::\+Timeout} \&}]{timeout} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a5b1a4e05b1690d29ba1ae14a9079434c}{}\label{classserial_1_1_serial_a5b1a4e05b1690d29ba1ae14a9079434c} -Sets the timeout for reads and writes using the \hyperlink{structserial_1_1_timeout}{Timeout} struct. - -There are two timeout conditions described here\+: -\begin{DoxyItemize} -\item The inter byte timeout\+: -\begin{DoxyItemize} -\item The inter\+\_\+byte\+\_\+timeout component of \hyperlink{structserial_1_1_timeout}{serial\+::\+Timeout} defines the maximum amount of time, in milliseconds, between receiving bytes on the serial port that can pass before a timeout occurs. Setting this to zero will prevent inter byte timeouts from occurring. -\end{DoxyItemize} -\item Total time timeout\+: -\begin{DoxyItemize} -\item The constant and multiplier component of this timeout condition, for both read and write, are defined in \hyperlink{structserial_1_1_timeout}{serial\+::\+Timeout}. This timeout occurs if the total time since the read or write call was made exceeds the specified time in milliseconds. -\item The limit is defined by multiplying the multiplier component by the number of requested bytes and adding that product to the constant component. In this way if you want a read call, for example, to timeout after exactly one second regardless of the number of bytes you asked for then set the read\+\_\+timeout\+\_\+constant component of \hyperlink{structserial_1_1_timeout}{serial\+::\+Timeout} to 1000 and the read\+\_\+timeout\+\_\+multiplier to zero. This timeout condition can be used in conjunction with the inter byte timeout condition with out any problems, timeout will simply occur when one of the two timeout conditions is met. This allows users to have maximum control over the trade-\/off between responsiveness and efficiency. -\end{DoxyItemize} -\end{DoxyItemize} - -Read and write functions will return in one of three cases. When the reading or writing is complete, when a timeout occurs, or when an exception occurs. - -A timeout of 0 enables non-\/blocking mode. - - -\begin{DoxyParams}{Parameters} -{\em timeout} & A \hyperlink{structserial_1_1_timeout}{serial\+::\+Timeout} struct containing the inter byte timeout, and the read and write timeout constants and multipliers.\\ -\hline -\end{DoxyParams} -\begin{DoxySeeAlso}{See also} -\hyperlink{structserial_1_1_timeout}{serial\+::\+Timeout} -\end{DoxySeeAlso} -\index{serial\+::\+Serial@{serial\+::\+Serial}!set\+Timeout@{set\+Timeout}} -\index{set\+Timeout@{set\+Timeout}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{set\+Timeout(uint32\+\_\+t inter\+\_\+byte\+\_\+timeout, uint32\+\_\+t read\+\_\+timeout\+\_\+constant, uint32\+\_\+t read\+\_\+timeout\+\_\+multiplier, uint32\+\_\+t write\+\_\+timeout\+\_\+constant, uint32\+\_\+t write\+\_\+timeout\+\_\+multiplier)}{setTimeout(uint32_t inter_byte_timeout, uint32_t read_timeout_constant, uint32_t read_timeout_multiplier, uint32_t write_timeout_constant, uint32_t write_timeout_multiplier)}}]{\setlength{\rightskip}{0pt plus 5cm}void serial\+::\+Serial\+::set\+Timeout ( -\begin{DoxyParamCaption} -\item[{uint32\+\_\+t}]{inter\+\_\+byte\+\_\+timeout, } -\item[{uint32\+\_\+t}]{read\+\_\+timeout\+\_\+constant, } -\item[{uint32\+\_\+t}]{read\+\_\+timeout\+\_\+multiplier, } -\item[{uint32\+\_\+t}]{write\+\_\+timeout\+\_\+constant, } -\item[{uint32\+\_\+t}]{write\+\_\+timeout\+\_\+multiplier} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{classserial_1_1_serial_a4b4be39af3e1c68bc6ac09cb55788c86}{}\label{classserial_1_1_serial_a4b4be39af3e1c68bc6ac09cb55788c86} -Sets the timeout for reads and writes. \index{serial\+::\+Serial@{serial\+::\+Serial}!wait\+Byte\+Times@{wait\+Byte\+Times}} -\index{wait\+Byte\+Times@{wait\+Byte\+Times}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{wait\+Byte\+Times(size\+\_\+t count)}{waitByteTimes(size_t count)}}]{\setlength{\rightskip}{0pt plus 5cm}void serial\+::\+Serial\+::wait\+Byte\+Times ( -\begin{DoxyParamCaption} -\item[{size\+\_\+t}]{count} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a35c0f6ff20c142a5210dde288731f954}{}\label{classserial_1_1_serial_a35c0f6ff20c142a5210dde288731f954} -Block for a period of time corresponding to the transmission time of count characters at present serial settings. This may be used in con-\/ junction with wait\+Readable to read larger blocks of data from the port. \index{serial\+::\+Serial@{serial\+::\+Serial}!wait\+For\+Change@{wait\+For\+Change}} -\index{wait\+For\+Change@{wait\+For\+Change}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{wait\+For\+Change()}{waitForChange()}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::wait\+For\+Change ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a9d889dc0ec2cec50a620650f10cf8e83}{}\label{classserial_1_1_serial_a9d889dc0ec2cec50a620650f10cf8e83} -Blocks until C\+TS, D\+SR, RI, CD changes or something interrupts it. - -Can throw an exception if an error occurs while waiting. You can check the status of C\+TS, D\+SR, RI, and CD once this returns. Uses T\+I\+O\+C\+M\+I\+W\+A\+IT via ioctl if available (mostly only on Linux) with a resolution of less than +-\/1ms and as good as +-\/0.2ms. Otherwise a polling method is used which can give +-\/2ms. - -\begin{DoxyReturn}{Returns} -Returns true if one of the lines changed, false if something else occurred. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!wait\+Readable@{wait\+Readable}} -\index{wait\+Readable@{wait\+Readable}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{wait\+Readable()}{waitReadable()}}]{\setlength{\rightskip}{0pt plus 5cm}bool serial\+::\+Serial\+::wait\+Readable ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a59bd8d40309769e8eed91dd3684e0000}{}\label{classserial_1_1_serial_a59bd8d40309769e8eed91dd3684e0000} -Block until there is serial data to read or read\+\_\+timeout\+\_\+constant number of milliseconds have elapsed. The return value is true when the function exits with the port in a readable state, false otherwise (due to timeout or select interruption). \index{serial\+::\+Serial@{serial\+::\+Serial}!write@{write}} -\index{write@{write}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{write(const uint8\+\_\+t $\ast$data, size\+\_\+t size)}{write(const uint8_t *data, size_t size)}}]{\setlength{\rightskip}{0pt plus 5cm}size\+\_\+t serial\+::\+Serial\+::write ( -\begin{DoxyParamCaption} -\item[{const uint8\+\_\+t $\ast$}]{data, } -\item[{size\+\_\+t}]{size} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a3275e8456850998c0ac46b2768ab9258}{}\label{classserial_1_1_serial_a3275e8456850998c0ac46b2768ab9258} -Write a string to the serial port. - - -\begin{DoxyParams}{Parameters} -{\em data} & A const reference containing the data to be written to the serial port.\\ -\hline -{\em size} & A size\+\_\+t that indicates how many bytes should be written from the given data buffer.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A size\+\_\+t representing the number of bytes actually written to the serial port. -\end{DoxyReturn} - -\begin{DoxyExceptions}{Exceptions} -{\em serial\+::\+Port\+Not\+Opened\+Exception} & \\ -\hline -{\em serial\+::\+Serial\+Exception} & \\ -\hline -{\em serial\+::\+I\+O\+Exception} & \\ -\hline -\end{DoxyExceptions} -\index{serial\+::\+Serial@{serial\+::\+Serial}!write@{write}} -\index{write@{write}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{write(const std\+::vector$<$ uint8\+\_\+t $>$ \&data)}{write(const std::vector< uint8_t > &data)}}]{\setlength{\rightskip}{0pt plus 5cm}size\+\_\+t serial\+::\+Serial\+::write ( -\begin{DoxyParamCaption} -\item[{const std\+::vector$<$ uint8\+\_\+t $>$ \&}]{data} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a9c2827088d82ee82f245ffa106fa7d10}{}\label{classserial_1_1_serial_a9c2827088d82ee82f245ffa106fa7d10} -Write a string to the serial port. - - -\begin{DoxyParams}{Parameters} -{\em data} & A const reference containing the data to be written to the serial port.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A size\+\_\+t representing the number of bytes actually written to the serial port. -\end{DoxyReturn} -\index{serial\+::\+Serial@{serial\+::\+Serial}!write@{write}} -\index{write@{write}!serial\+::\+Serial@{serial\+::\+Serial}} -\subsubsection[{\texorpdfstring{write(const std\+::string \&data)}{write(const std::string &data)}}]{\setlength{\rightskip}{0pt plus 5cm}size\+\_\+t serial\+::\+Serial\+::write ( -\begin{DoxyParamCaption} -\item[{const std\+::string \&}]{data} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1_serial_a7c92c0307b86a935f6623953eec66460}{}\label{classserial_1_1_serial_a7c92c0307b86a935f6623953eec66460} -Write a string to the serial port. - - -\begin{DoxyParams}{Parameters} -{\em data} & A const reference containing the data to be written to the serial port.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -A size\+\_\+t representing the number of bytes actually written to the serial port. -\end{DoxyReturn} - - -The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/serial.\+h\item -/home/yang/tmp/sdk/src/serial.\+cpp\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/classserial_1_1_serial_1_1_scoped_read_lock.tex b/sdk/doc/latex/classserial_1_1_serial_1_1_scoped_read_lock.tex deleted file mode 100644 index 7c34c8b..0000000 --- a/sdk/doc/latex/classserial_1_1_serial_1_1_scoped_read_lock.tex +++ /dev/null @@ -1,13 +0,0 @@ -\hypertarget{classserial_1_1_serial_1_1_scoped_read_lock}{}\section{serial\+:\+:Serial\+:\+:Scoped\+Read\+Lock Class Reference} -\label{classserial_1_1_serial_1_1_scoped_read_lock}\index{serial\+::\+Serial\+::\+Scoped\+Read\+Lock@{serial\+::\+Serial\+::\+Scoped\+Read\+Lock}} -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -{\bfseries Scoped\+Read\+Lock} (\hyperlink{classserial_1_1serial_1_1_serial_1_1_serial_impl}{Serial\+Impl} $\ast$pimpl)\hypertarget{classserial_1_1_serial_1_1_scoped_read_lock_a54f59663807d8adfe6db712ee6103503}{}\label{classserial_1_1_serial_1_1_scoped_read_lock_a54f59663807d8adfe6db712ee6103503} - -\end{DoxyCompactItemize} - - -The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/src/serial.\+cpp\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/classserial_1_1_serial_1_1_scoped_write_lock.tex b/sdk/doc/latex/classserial_1_1_serial_1_1_scoped_write_lock.tex deleted file mode 100644 index 370c8e2..0000000 --- a/sdk/doc/latex/classserial_1_1_serial_1_1_scoped_write_lock.tex +++ /dev/null @@ -1,13 +0,0 @@ -\hypertarget{classserial_1_1_serial_1_1_scoped_write_lock}{}\section{serial\+:\+:Serial\+:\+:Scoped\+Write\+Lock Class Reference} -\label{classserial_1_1_serial_1_1_scoped_write_lock}\index{serial\+::\+Serial\+::\+Scoped\+Write\+Lock@{serial\+::\+Serial\+::\+Scoped\+Write\+Lock}} -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -{\bfseries Scoped\+Write\+Lock} (\hyperlink{classserial_1_1serial_1_1_serial_1_1_serial_impl}{Serial\+Impl} $\ast$pimpl)\hypertarget{classserial_1_1_serial_1_1_scoped_write_lock_a662173968431aee3d6f204c354b20225}{}\label{classserial_1_1_serial_1_1_scoped_write_lock_a662173968431aee3d6f204c354b20225} - -\end{DoxyCompactItemize} - - -The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/src/serial.\+cpp\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/classserial_1_1serial_1_1_serial_1_1_serial_impl.tex b/sdk/doc/latex/classserial_1_1serial_1_1_serial_1_1_serial_impl.tex deleted file mode 100644 index 3ee008a..0000000 --- a/sdk/doc/latex/classserial_1_1serial_1_1_serial_1_1_serial_impl.tex +++ /dev/null @@ -1,160 +0,0 @@ -\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl}{}\section{serial\+:\+:Serial\+:\+:Serial\+Impl Class Reference} -\label{classserial_1_1serial_1_1_serial_1_1_serial_impl}\index{serial\+::\+Serial\+::\+Serial\+Impl@{serial\+::\+Serial\+::\+Serial\+Impl}} -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -{\bfseries Serial\+Impl} (const string \&port, unsigned long baudrate, \hyperlink{namespaceserial_a00b3281fa11cea770c0b0c8a106080f8}{bytesize\+\_\+t} bytesize, \hyperlink{namespaceserial_a8f45d26bf7c9a06659e75b5004a50481}{parity\+\_\+t} parity, \hyperlink{namespaceserial_af5b116611d6628a3aa8f788fdc09f469}{stopbits\+\_\+t} stopbits, \hyperlink{namespaceserial_a93ef57a314b4e562f9eded6c15d34351}{flowcontrol\+\_\+t} flowcontrol)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a1c97cde16ec9282e1fe26764cc2ce4ea}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a1c97cde16ec9282e1fe26764cc2ce4ea} - -\item -bool {\bfseries open} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a77d836bb85da64fc5a67d980db814cbd}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a77d836bb85da64fc5a67d980db814cbd} - -\item -void {\bfseries close} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_aae71a048817d41c224b0824cd19b40d0}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_aae71a048817d41c224b0824cd19b40d0} - -\item -bool {\bfseries is\+Open} () const \hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a1fb0393b7ad279bc70a8b265ea6bc1c2}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a1fb0393b7ad279bc70a8b265ea6bc1c2} - -\item -size\+\_\+t {\bfseries available} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_ad3898b08a53ac00af6f492afc3b00475}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_ad3898b08a53ac00af6f492afc3b00475} - -\item -bool {\bfseries wait\+Readable} (uint32\+\_\+t timeout)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a4a26fe12f37fd3e54f778181377cd21a}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a4a26fe12f37fd3e54f778181377cd21a} - -\item -void {\bfseries wait\+Byte\+Times} (size\+\_\+t count)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_acda4ee2cb12938a76b025e53100b32ee}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_acda4ee2cb12938a76b025e53100b32ee} - -\item -int {\bfseries waitfordata} (size\+\_\+t data\+\_\+count, uint32\+\_\+t timeout, size\+\_\+t $\ast$returned\+\_\+size)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a962c37527625ec7fb63ed74cfe53484f}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a962c37527625ec7fb63ed74cfe53484f} - -\item -size\+\_\+t {\bfseries read} (uint8\+\_\+t $\ast$buf, size\+\_\+t size=1)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_ab7a6fbc9aeab91dbec5679c2649f381b}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_ab7a6fbc9aeab91dbec5679c2649f381b} - -\item -size\+\_\+t \hyperlink{classserial_1_1serial_1_1_serial_1_1_serial_impl_adb5572ca568cd0186dec4bc4af28f13b}{write} (const uint8\+\_\+t $\ast$data, size\+\_\+t length) -\item -void {\bfseries flush} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a9cc5d31f66893114cc534da96e3533fd}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a9cc5d31f66893114cc534da96e3533fd} - -\item -void {\bfseries flush\+Input} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_acb1b7b1f4a6b088c8a3ada12c878d7a7}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_acb1b7b1f4a6b088c8a3ada12c878d7a7} - -\item -void {\bfseries flush\+Output} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a34ad257f3528acda052ef2cb426d8edb}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a34ad257f3528acda052ef2cb426d8edb} - -\item -void {\bfseries send\+Break} (int duration)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a447258df99a7fad4cb5c4cccb3c1d060}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a447258df99a7fad4cb5c4cccb3c1d060} - -\item -bool {\bfseries set\+Break} (bool level)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_afeb6442ab9f46d11a0ea987040cf7e7e}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_afeb6442ab9f46d11a0ea987040cf7e7e} - -\item -bool {\bfseries set\+R\+TS} (bool level)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_aad23f8148f344342dffc77c0013a2280}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_aad23f8148f344342dffc77c0013a2280} - -\item -bool {\bfseries set\+D\+TR} (bool level)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a8477f2aed44d88becd0a40ba32498768}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a8477f2aed44d88becd0a40ba32498768} - -\item -bool {\bfseries wait\+For\+Change} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_ae68343df4d16ce1b10420a6a02697c57}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_ae68343df4d16ce1b10420a6a02697c57} - -\item -bool {\bfseries get\+C\+TS} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a5fc1c15b90684eb26ec0acd9384ca08d}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a5fc1c15b90684eb26ec0acd9384ca08d} - -\item -bool {\bfseries get\+D\+SR} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_affd908535c0a1289fc569f75e164a6fe}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_affd908535c0a1289fc569f75e164a6fe} - -\item -bool {\bfseries get\+RI} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a9ab73427541982ce5dfe134135ebb4c3}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a9ab73427541982ce5dfe134135ebb4c3} - -\item -bool {\bfseries get\+CD} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_ad7a9b7000f8549646b126678793ed17c}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_ad7a9b7000f8549646b126678793ed17c} - -\item -uint32\+\_\+t {\bfseries get\+Byte\+Time} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_ac0cc92005cc432c46aee39e2716d745e}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_ac0cc92005cc432c46aee39e2716d745e} - -\item -void {\bfseries set\+Port} (const string \&port)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a7892f9a93d19590ab8eeea714c2049e7}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a7892f9a93d19590ab8eeea714c2049e7} - -\item -string {\bfseries get\+Port} () const \hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a3d38bb67d3f8c92ec403ff8604c0d923}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a3d38bb67d3f8c92ec403ff8604c0d923} - -\item -void {\bfseries set\+Timeout} (\hyperlink{structserial_1_1_timeout}{Timeout} \&timeout)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_ad86a453dedefa2c3509ccdfa98b2b62a}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_ad86a453dedefa2c3509ccdfa98b2b62a} - -\item -\hyperlink{structserial_1_1_timeout}{Timeout} {\bfseries get\+Timeout} () const \hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a55ca6631e7755d36354ce4a4ba79c283}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a55ca6631e7755d36354ce4a4ba79c283} - -\item -bool {\bfseries set\+Baudrate} (unsigned long baudrate)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a444886b89018c146bc079c4ee1a9f32a}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a444886b89018c146bc079c4ee1a9f32a} - -\item -bool {\bfseries set\+Standard\+Baud\+Rate} (speed\+\_\+t baudrate)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a6435bb73b578ea5d774051cc963f91a6}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a6435bb73b578ea5d774051cc963f91a6} - -\item -bool {\bfseries set\+Custom\+Baud\+Rate} (unsigned long baudrate)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a794b6360f26190156063f51c58b31e6a}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a794b6360f26190156063f51c58b31e6a} - -\item -unsigned long {\bfseries get\+Baudrate} () const \hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a8c736ed613551eed0c1824dc0499ec37}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a8c736ed613551eed0c1824dc0499ec37} - -\item -bool {\bfseries set\+Bytesize} (\hyperlink{namespaceserial_a00b3281fa11cea770c0b0c8a106080f8}{bytesize\+\_\+t} bytesize)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a8d5586c60701a8cf9fa42c7c25bdde74}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a8d5586c60701a8cf9fa42c7c25bdde74} - -\item -\hyperlink{namespaceserial_a00b3281fa11cea770c0b0c8a106080f8}{bytesize\+\_\+t} {\bfseries get\+Bytesize} () const \hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a2a48e8b24ed35bc6a30688daa602352b}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a2a48e8b24ed35bc6a30688daa602352b} - -\item -bool {\bfseries set\+Parity} (\hyperlink{namespaceserial_a8f45d26bf7c9a06659e75b5004a50481}{parity\+\_\+t} parity)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a72883607f1f886997f7f1bed11100382}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a72883607f1f886997f7f1bed11100382} - -\item -\hyperlink{namespaceserial_a8f45d26bf7c9a06659e75b5004a50481}{parity\+\_\+t} {\bfseries get\+Parity} () const \hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_ab23ff21e8348c553b64e4600826dbdd4}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_ab23ff21e8348c553b64e4600826dbdd4} - -\item -bool {\bfseries set\+Stopbits} (\hyperlink{namespaceserial_af5b116611d6628a3aa8f788fdc09f469}{stopbits\+\_\+t} stopbits)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_af10d0c02711c21aa3f9610d141eb0717}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_af10d0c02711c21aa3f9610d141eb0717} - -\item -\hyperlink{namespaceserial_af5b116611d6628a3aa8f788fdc09f469}{stopbits\+\_\+t} {\bfseries get\+Stopbits} () const \hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_ad2c9aa573c52c8811ab54bd8d2ee7abc}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_ad2c9aa573c52c8811ab54bd8d2ee7abc} - -\item -bool {\bfseries set\+Flowcontrol} (\hyperlink{namespaceserial_a93ef57a314b4e562f9eded6c15d34351}{flowcontrol\+\_\+t} flowcontrol)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_af14e9cbd4780d8786d6206a8c1870d88}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_af14e9cbd4780d8786d6206a8c1870d88} - -\item -\hyperlink{namespaceserial_a93ef57a314b4e562f9eded6c15d34351}{flowcontrol\+\_\+t} {\bfseries get\+Flowcontrol} () const \hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_ada9392d462e7f1b922e1f2ea7c2bd881}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_ada9392d462e7f1b922e1f2ea7c2bd881} - -\item -bool {\bfseries set\+Termios} (const termios $\ast$tio)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a94df4cb3ea8b58d124554637b3cc98d6}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a94df4cb3ea8b58d124554637b3cc98d6} - -\item -bool {\bfseries get\+Termios} (termios $\ast$tio)\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a07e74d9a01c0a9ebb54c214fb3453856}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a07e74d9a01c0a9ebb54c214fb3453856} - -\item -int {\bfseries read\+Lock} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a1a63f1071f960e512b7f83824cc46bc7}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a1a63f1071f960e512b7f83824cc46bc7} - -\item -int {\bfseries read\+Unlock} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_aa91835c9873bbba6a3693848ec10bd63}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_aa91835c9873bbba6a3693848ec10bd63} - -\item -int {\bfseries write\+Lock} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a6dd6c072c2022087816e36edae1bd874}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a6dd6c072c2022087816e36edae1bd874} - -\item -int {\bfseries write\+Unlock} ()\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_a8061d98e76fae5b808d2dc86b972ce1a}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_a8061d98e76fae5b808d2dc86b972ce1a} - -\end{DoxyCompactItemize} - - -\subsection{Member Function Documentation} -\index{serial\+::serial\+::\+Serial\+::\+Serial\+Impl@{serial\+::serial\+::\+Serial\+::\+Serial\+Impl}!write@{write}} -\index{write@{write}!serial\+::serial\+::\+Serial\+::\+Serial\+Impl@{serial\+::serial\+::\+Serial\+::\+Serial\+Impl}} -\subsubsection[{\texorpdfstring{write(const uint8\+\_\+t $\ast$data, size\+\_\+t length)}{write(const uint8_t *data, size_t length)}}]{\setlength{\rightskip}{0pt plus 5cm}size\+\_\+t serial\+::\+Serial\+::\+Serial\+Impl\+::write ( -\begin{DoxyParamCaption} -\item[{const uint8\+\_\+t $\ast$}]{data, } -\item[{size\+\_\+t}]{length} -\end{DoxyParamCaption} -)}\hypertarget{classserial_1_1serial_1_1_serial_1_1_serial_impl_adb5572ca568cd0186dec4bc4af28f13b}{}\label{classserial_1_1serial_1_1_serial_1_1_serial_impl_adb5572ca568cd0186dec4bc4af28f13b} -Error - -\hyperlink{structserial_1_1_timeout}{Timeout} - -Port ready to write - -The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/src/impl/unix/unix\+\_\+serial.\+h\item -/home/yang/tmp/sdk/src/impl/unix/unix\+\_\+serial.\+cpp\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/classydlidar_1_1_y_dlidar_driver.tex b/sdk/doc/latex/classydlidar_1_1_y_dlidar_driver.tex deleted file mode 100644 index 6dbc637..0000000 --- a/sdk/doc/latex/classydlidar_1_1_y_dlidar_driver.tex +++ /dev/null @@ -1,1658 +0,0 @@ -\hypertarget{classydlidar_1_1_y_dlidar_driver}{}\section{ydlidar\+:\+:Y\+Dlidar\+Driver Class Reference} -\label{classydlidar_1_1_y_dlidar_driver}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} - - -Collaboration diagram for ydlidar\+:\+:Y\+Dlidar\+Driver\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{classydlidar_1_1_y_dlidar_driver__coll__graph} -\end{center} -\end{figure} -\subsection*{Public Types} -\begin{DoxyCompactItemize} -\item -enum \{ \hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT} = 2000, -\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa94033b4717c83f52cd008fe38b712e21}{D\+E\+F\+A\+U\+L\+T\+\_\+\+H\+E\+A\+R\+T\+\_\+\+B\+E\+AT} = 1000, -\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa3db6fc46c7ce55cdf3a968b70e96374a}{M\+A\+X\+\_\+\+S\+C\+A\+N\+\_\+\+N\+O\+D\+ES} = 2048 - \} -\item -enum \{ \\* -\hyperlink{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa3303d67e56b0dd5a36397a5326965713}{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4} =1, -\hyperlink{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa6ea5ed1cde351e4b5df40d1bbd697212}{Y\+D\+L\+I\+D\+A\+R\+\_\+\+T1} =2, -\hyperlink{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa7d64a3d3e3d3ef6d1db5c0a8740a523a}{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F2} =3, -\hyperlink{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daab1d9ab224053d610e97ebee7236345ba}{Y\+D\+L\+I\+D\+A\+R\+\_\+\+S4} =4, -\\* -\hyperlink{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa6bd6fb5e1f3ddd4e36ab12e53c114039}{Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4} =5, -\hyperlink{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa5065807c3aa6a4a731858dda599667b7}{Y\+D\+L\+I\+D\+A\+R\+\_\+\+X4} =6, -\hyperlink{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa700fca9e58a191c0d1a4d13ae67927e8}{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4\+P\+RO} =6, -\hyperlink{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa55a9d7236d51f9d1d38d41cd102be527}{Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4C} =9 - \} -\end{DoxyCompactItemize} -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a2c5eeecccaa6ed874635de1617e8d7d8}{connect} (const char $\ast$port\+\_\+path, uint32\+\_\+t baudrate) -\begin{DoxyCompactList}\small\item\em 连接雷达 ~\newline -连接成功后，必须使用\+::disconnect函数关闭 \end{DoxyCompactList}\item -void \hyperlink{classydlidar_1_1_y_dlidar_driver_aa26790ae49d33936229fa67739a8ff5f}{disconnect} ()\hypertarget{classydlidar_1_1_y_dlidar_driver_aa26790ae49d33936229fa67739a8ff5f}{}\label{classydlidar_1_1_y_dlidar_driver_aa26790ae49d33936229fa67739a8ff5f} - -\begin{DoxyCompactList}\small\item\em 断开雷达连接 \end{DoxyCompactList}\item -const bool \hyperlink{classydlidar_1_1_y_dlidar_driver_a37cd2766dec3536848aa25c88d9d1ea9}{isscanning} () const -\begin{DoxyCompactList}\small\item\em 扫图状态 ~\newline -\end{DoxyCompactList}\item -const bool \hyperlink{classydlidar_1_1_y_dlidar_driver_a2553d28304faa4acab6bd63e7c6c2ee6}{isconnected} () const -\begin{DoxyCompactList}\small\item\em 连接雷达状态 ~\newline -\end{DoxyCompactList}\item -void \hyperlink{classydlidar_1_1_y_dlidar_driver_afc543dbbe1c5e37afc366e3c92203533}{set\+Intensities} (const bool \&isintensities) -\begin{DoxyCompactList}\small\item\em 设置雷达是否带信号质量 ~\newline -连接成功后，必须使用\+::disconnect函数关闭 \end{DoxyCompactList}\item -const bool \hyperlink{classydlidar_1_1_y_dlidar_driver_a36b01c5124032be12ecbeffeefd38742}{get\+Heart\+Beat} () const -\begin{DoxyCompactList}\small\item\em 获取当前雷达掉电保护功能 ~\newline -\end{DoxyCompactList}\item -void \hyperlink{classydlidar_1_1_y_dlidar_driver_af5d6603d3664d3efcb56d64d76d31956}{set\+Heart\+Beat} (const bool \&enable) -\begin{DoxyCompactList}\small\item\em 设置雷达掉电保护使能 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a9fe6f8b842a2aff2c3ae13f8423b03f4}{get\+Health} (\hyperlink{structdevice__health}{device\+\_\+health} \&health, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 获取雷达设备健康状态 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_ab75303116c4ccb144ecc215e94114e1a}{get\+Device\+Info} (\hyperlink{structdevice__info}{device\+\_\+info} \&info, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 获取雷达设备信息 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a62888da8520422b7daaae89c2935460b}{start\+Scan} (bool force=false, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 开启扫描 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a7aa354e88eeb6984be4d18eae6367a0b}{stop} () -\begin{DoxyCompactList}\small\item\em 关闭扫描 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a6d6e04efa9d7e5d4aea41ee53d4ea8af}{grab\+Scan\+Data} (\hyperlink{structnode__info}{node\+\_\+info} $\ast$nodebuffer, size\+\_\+t \&count, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 获取激光数据 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a6494501f3fee2f6dc410f869bbc18cb9}{ascend\+Scan\+Data} (\hyperlink{structnode__info}{node\+\_\+info} $\ast$nodebuffer, size\+\_\+t count) -\begin{DoxyCompactList}\small\item\em 补偿激光角度 ~\newline -把角度限制在0到360度之间 \end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a3dd4086c5685163f7c7487ea0f5af08c}{reset} (uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 重置激光雷达 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a2e686ef1ce60f3241352a798330f760b}{start\+Motor} () -\begin{DoxyCompactList}\small\item\em 打开电机 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a6cdf0c5a7ddf2375c1392c3a0e65edfe}{stop\+Motor} () -\begin{DoxyCompactList}\small\item\em 关闭电机 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a76efb701e137121b213f61028e3f235e}{get\+Scan\+Frequency} (\hyperlink{structscan__frequency}{scan\+\_\+frequency} \&frequency, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 获取激光雷达当前扫描频率 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a0feea99573991bb4eb6f8e1718a71435}{set\+Scan\+Frequency\+Add} (\hyperlink{structscan__frequency}{scan\+\_\+frequency} \&frequency, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置增加扫描频率1\+HZ ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a811e3e1f0012925c8a90aebda9716738}{set\+Scan\+Frequency\+Dis} (\hyperlink{structscan__frequency}{scan\+\_\+frequency} \&frequency, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置减小扫描频率1\+HZ ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_aa801f64f5ca2ce1e70ee096eb0b4b612}{set\+Scan\+Frequency\+Add\+Mic} (\hyperlink{structscan__frequency}{scan\+\_\+frequency} \&frequency, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置增加扫描频率0.1\+HZ ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a00e69cf360eeca890dbaf964ab6f67b7}{set\+Scan\+Frequency\+Dis\+Mic} (\hyperlink{structscan__frequency}{scan\+\_\+frequency} \&frequency, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置减小扫描频率0.1\+HZ ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a7b7812329013f119235abf74da397aaa}{get\+Sampling\+Rate} (\hyperlink{structsampling__rate}{sampling\+\_\+rate} \&rate, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 获取激光雷达当前采样频率 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a30f9219bcf3aa3a8df2bbdae983ccd02}{set\+Sampling\+Rate} (\hyperlink{structsampling__rate}{sampling\+\_\+rate} \&rate, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置激光雷达当前采样频率 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_ae6645c26b9b46b2aa4aaae87521a38f1}{set\+Rotation\+Positive} (\hyperlink{structscan__rotation}{scan\+\_\+rotation} \&rotation, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置电机顺时针旋转 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a1569723d0e46b801aee5284455f3b1d1}{set\+Rotation\+Inversion} (\hyperlink{structscan__rotation}{scan\+\_\+rotation} \&rotation, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置电机逆顺时针旋转 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a85a9af2aff7201a42f000299990b0ce5}{enable\+Lower\+Power} (\hyperlink{structfunction__state}{function\+\_\+state} \&state, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 低功耗使能 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a18895e94f42ce61890b4912727cdfbd8}{disable\+Lower\+Power} (\hyperlink{structfunction__state}{function\+\_\+state} \&state, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 关闭低功耗 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_af5d460ababe4b8a34b02d33268f24d4d}{get\+Motor\+State} (\hyperlink{structfunction__state}{function\+\_\+state} \&state, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 获取电机状态 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a1e5c25618be9867dfdb1aa2f5e9cb93c}{enable\+Const\+Freq} (\hyperlink{structfunction__state}{function\+\_\+state} \&state, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 开启恒频功能 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_ae4b3883dd18bf01737bc4783d2dae974}{disable\+Const\+Freq} (\hyperlink{structfunction__state}{function\+\_\+state} \&state, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 关闭恒频功能 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a73ef6628afc1eadf2f3079db99b383c6}{set\+Save\+Low\+Exposure} (\hyperlink{structscan__exposure}{scan\+\_\+exposure} \&low\+\_\+exposure, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 保存当前激光曝光值 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a02257e37b792870a9c42f8abfbe543ad}{set\+Low\+Exposure} (\hyperlink{structscan__exposure}{scan\+\_\+exposure} \&low\+\_\+exposure, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置低光功率模式 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a3f34ad1119b9b97c4af3936e80c182f4}{set\+Low\+Exposure\+Add} (\hyperlink{structscan__exposure}{scan\+\_\+exposure} \&exposure, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 增加激光曝光值 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_aece83871e5912d19bc7677676a5511f8}{set\+Low\+Exposurer\+Dis} (\hyperlink{structscan__exposure}{scan\+\_\+exposure} \&exposure, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 减小激光曝光值 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_ab2d5434c9b640a38f9d3b43b07c0b3eb}{set\+Scan\+Heartbeat} (\hyperlink{structscan__heart__beat}{scan\+\_\+heart\+\_\+beat} \&beat, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置雷达掉电保护状态 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a1c8d40889885386e6c5a7827b7747696}{set\+Points\+For\+One\+Ring\+Flag} (\hyperlink{structscan__points}{scan\+\_\+points} \&points, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 设置扫描一圈固定激光点数 ~\newline -\end{DoxyCompactList}\item -void \hyperlink{classydlidar_1_1_y_dlidar_driver_a797de2678c6c81c84a8126cf184a0254}{simple\+Scan\+Data} (std\+::vector$<$ \hyperlink{structscan_dot}{scan\+Dot} $>$ $\ast$scan\+\_\+data, \hyperlink{structnode__info}{node\+\_\+info} $\ast$buffer, size\+\_\+t count) -\begin{DoxyCompactList}\small\item\em 解析激光信息数据到scan\+Dot数据类型 ~\newline -\end{DoxyCompactList}\end{DoxyCompactItemize} -\subsection*{Static Public Member Functions} -\begin{DoxyCompactItemize} -\item -static \hyperlink{classydlidar_1_1_y_dlidar_driver}{Y\+Dlidar\+Driver} $\ast$ {\bfseries singleton} ()\hypertarget{classydlidar_1_1_y_dlidar_driver_ae647504b6232c8fce584ca2d011a07d3}{}\label{classydlidar_1_1_y_dlidar_driver_ae647504b6232c8fce584ca2d011a07d3} - -\item -static void {\bfseries init\+Driver} ()\hypertarget{classydlidar_1_1_y_dlidar_driver_a15629ca7d39a463d1b18a5e35300dfe7}{}\label{classydlidar_1_1_y_dlidar_driver_a15629ca7d39a463d1b18a5e35300dfe7} - -\item -static void {\bfseries done} ()\hypertarget{classydlidar_1_1_y_dlidar_driver_a167ea8a27d77fae98488f1ba7f31969c}{}\label{classydlidar_1_1_y_dlidar_driver_a167ea8a27d77fae98488f1ba7f31969c} - -\item -static std\+::string \hyperlink{classydlidar_1_1_y_dlidar_driver_a542dc18ac8dbcda2a51657cf9bd44ae0}{get\+S\+D\+K\+Version} () -\begin{DoxyCompactList}\small\item\em 获取当前\+S\+D\+K版本号 ~\newline -静态函数 \end{DoxyCompactList}\end{DoxyCompactItemize} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -std\+::atomic$<$ bool $>$ \hyperlink{classydlidar_1_1_y_dlidar_driver_a4457578961d36ce22035d778c0fd7f06}{is\+Connected}\hypertarget{classydlidar_1_1_y_dlidar_driver_a4457578961d36ce22035d778c0fd7f06}{}\label{classydlidar_1_1_y_dlidar_driver_a4457578961d36ce22035d778c0fd7f06} - -\begin{DoxyCompactList}\small\item\em 串口连接状体 \end{DoxyCompactList}\item -std\+::atomic$<$ bool $>$ \hyperlink{classydlidar_1_1_y_dlidar_driver_a245115a8c8a4f98d988fbee06810d0a4}{is\+Scanning}\hypertarget{classydlidar_1_1_y_dlidar_driver_a245115a8c8a4f98d988fbee06810d0a4}{}\label{classydlidar_1_1_y_dlidar_driver_a245115a8c8a4f98d988fbee06810d0a4} - -\begin{DoxyCompactList}\small\item\em 扫图状态 \end{DoxyCompactList}\item -std\+::atomic$<$ bool $>$ \hyperlink{classydlidar_1_1_y_dlidar_driver_a8a57494e849e7735fe8bf46d00b63077}{is\+Heartbeat}\hypertarget{classydlidar_1_1_y_dlidar_driver_a8a57494e849e7735fe8bf46d00b63077}{}\label{classydlidar_1_1_y_dlidar_driver_a8a57494e849e7735fe8bf46d00b63077} - -\begin{DoxyCompactList}\small\item\em 掉电保护状态 \end{DoxyCompactList}\item -\hyperlink{structnode__info}{node\+\_\+info} \hyperlink{classydlidar_1_1_y_dlidar_driver_aeaefa47c69cbb0439b1259bdc6ccb29e}{scan\+\_\+node\+\_\+buf} \mbox{[}2048\mbox{]}\hypertarget{classydlidar_1_1_y_dlidar_driver_aeaefa47c69cbb0439b1259bdc6ccb29e}{}\label{classydlidar_1_1_y_dlidar_driver_aeaefa47c69cbb0439b1259bdc6ccb29e} - -\begin{DoxyCompactList}\small\item\em 激光点信息 \end{DoxyCompactList}\item -size\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a106fc563bb42f19e84e8d9db1e7856fe}{scan\+\_\+node\+\_\+count}\hypertarget{classydlidar_1_1_y_dlidar_driver_a106fc563bb42f19e84e8d9db1e7856fe}{}\label{classydlidar_1_1_y_dlidar_driver_a106fc563bb42f19e84e8d9db1e7856fe} - -\begin{DoxyCompactList}\small\item\em 激光点数 \end{DoxyCompactList}\item -\hyperlink{class_event}{Event} \hyperlink{classydlidar_1_1_y_dlidar_driver_afd2b3835a0e450d9b88d28d8f574148d}{\+\_\+data\+Event}\hypertarget{classydlidar_1_1_y_dlidar_driver_afd2b3835a0e450d9b88d28d8f574148d}{}\label{classydlidar_1_1_y_dlidar_driver_afd2b3835a0e450d9b88d28d8f574148d} - -\begin{DoxyCompactList}\small\item\em 数据同步事件 \end{DoxyCompactList}\item -\hyperlink{class_locker}{Locker} \hyperlink{classydlidar_1_1_y_dlidar_driver_a1bb836661c8c39c2b71c9a0de8755c5c}{\+\_\+lock}\hypertarget{classydlidar_1_1_y_dlidar_driver_a1bb836661c8c39c2b71c9a0de8755c5c}{}\label{classydlidar_1_1_y_dlidar_driver_a1bb836661c8c39c2b71c9a0de8755c5c} - -\begin{DoxyCompactList}\small\item\em 线程锁 \end{DoxyCompactList}\item -\hyperlink{class_thread}{Thread} \hyperlink{classydlidar_1_1_y_dlidar_driver_a9fbd1b3471c1aa4959d74524b9a92410}{\+\_\+thread}\hypertarget{classydlidar_1_1_y_dlidar_driver_a9fbd1b3471c1aa4959d74524b9a92410}{}\label{classydlidar_1_1_y_dlidar_driver_a9fbd1b3471c1aa4959d74524b9a92410} - -\begin{DoxyCompactList}\small\item\em 线程id \end{DoxyCompactList}\end{DoxyCompactItemize} -\subsection*{Protected Member Functions} -\begin{DoxyCompactItemize} -\item -\hyperlink{classydlidar_1_1_y_dlidar_driver_a19e20b6aa35834507a0dacc8a3c510e6}{Y\+Dlidar\+Driver} () -\item -virtual \hyperlink{classydlidar_1_1_y_dlidar_driver_a87a50f9f1093a93b4d985f3e8bf27fde}{$\sim$\+Y\+Dlidar\+Driver} () -\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a2d2b317fa6381009222e03670812e917}{create\+Thread} () -\begin{DoxyCompactList}\small\item\em 创建解析雷达数据线程 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_aaf78903693f58c7f739dfa493573b3b1}{wait\+Package} (\hyperlink{structnode__info}{node\+\_\+info} $\ast$node, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 解包激光数据 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a574996217284ce34191a2f3675a9f17b}{wait\+Scan\+Data} (\hyperlink{structnode__info}{node\+\_\+info} $\ast$nodebuffer, size\+\_\+t \&count, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 发送数据到雷达 ~\newline -\end{DoxyCompactList}\item -int \hyperlink{classydlidar_1_1_y_dlidar_driver_ab462b22dc3a4d39fef4f722345a87d5e}{cache\+Scan\+Data} ()\hypertarget{classydlidar_1_1_y_dlidar_driver_ab462b22dc3a4d39fef4f722345a87d5e}{}\label{classydlidar_1_1_y_dlidar_driver_ab462b22dc3a4d39fef4f722345a87d5e} - -\begin{DoxyCompactList}\small\item\em 激光数据解析线程 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_ab096ecdc3642c04e3e8b000e210c0962}{send\+Command} (uint8\+\_\+t cmd, const void $\ast$payload=N\+U\+LL, size\+\_\+t payloadsize=0) -\begin{DoxyCompactList}\small\item\em 发送数据到雷达 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a0e089d615193ccef4bf488f63ff8130e}{wait\+Response\+Header} (\hyperlink{structlidar__ans__header}{lidar\+\_\+ans\+\_\+header} $\ast$header, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}) -\begin{DoxyCompactList}\small\item\em 等待激光数据包头 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a13f404b44f51941d1642bfe250de3522}{wait\+For\+Data} (size\+\_\+t data\+\_\+count, uint32\+\_\+t timeout=\hyperlink{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}, size\+\_\+t $\ast$returned\+\_\+size=N\+U\+LL) -\begin{DoxyCompactList}\small\item\em 等待固定数量串口数据 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_ad787e714bc05e5a70a42b096e632c60f}{get\+Data} (uint8\+\_\+t $\ast$data, size\+\_\+t size) -\begin{DoxyCompactList}\small\item\em 获取串口数据 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a998ba4b05927d19e8a0d4d29d3d47656}{send\+Data} (const uint8\+\_\+t $\ast$data, size\+\_\+t size) -\begin{DoxyCompactList}\small\item\em 串口发送数据 ~\newline -\end{DoxyCompactList}\item -result\+\_\+t \hyperlink{classydlidar_1_1_y_dlidar_driver_a6e7dc7cd2a73d24a763cebde840a5d30}{send\+Heart\+Beat} () -\begin{DoxyCompactList}\small\item\em 发送掉电保护命令 ~\newline -\end{DoxyCompactList}\item -void \hyperlink{classydlidar_1_1_y_dlidar_driver_ae66565bee3cdb8b74698b691f2ab1e63}{disable\+Data\+Grabbing} ()\hypertarget{classydlidar_1_1_y_dlidar_driver_ae66565bee3cdb8b74698b691f2ab1e63}{}\label{classydlidar_1_1_y_dlidar_driver_ae66565bee3cdb8b74698b691f2ab1e63} - -\begin{DoxyCompactList}\small\item\em 关闭数据获取通道 ~\newline -\end{DoxyCompactList}\item -void \hyperlink{classydlidar_1_1_y_dlidar_driver_a88de43cf13058344fc83389cb9df7e21}{set\+D\+TR} ()\hypertarget{classydlidar_1_1_y_dlidar_driver_a88de43cf13058344fc83389cb9df7e21}{}\label{classydlidar_1_1_y_dlidar_driver_a88de43cf13058344fc83389cb9df7e21} - -\begin{DoxyCompactList}\small\item\em 设置串口\+D\+TR ~\newline -\end{DoxyCompactList}\item -void \hyperlink{classydlidar_1_1_y_dlidar_driver_a67fe00d7458cdb52b4160d745b8ecd32}{clear\+D\+TR} ()\hypertarget{classydlidar_1_1_y_dlidar_driver_a67fe00d7458cdb52b4160d745b8ecd32}{}\label{classydlidar_1_1_y_dlidar_driver_a67fe00d7458cdb52b4160d745b8ecd32} - -\begin{DoxyCompactList}\small\item\em 清除串口\+D\+TR ~\newline -\end{DoxyCompactList}\end{DoxyCompactItemize} - - -\subsection{Member Enumeration Documentation} -\subsubsection[{\texorpdfstring{anonymous enum}{anonymous enum}}]{\setlength{\rightskip}{0pt plus 5cm}anonymous enum}\hypertarget{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27a}{}\label{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27a} -\begin{Desc} -\item[Enumerator]\par -\begin{description} -\index{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT@{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT@{D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}\item[{\em -D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT\hypertarget{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442}{}\label{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442} -}]默认超时时间. \index{D\+E\+F\+A\+U\+L\+T\+\_\+\+H\+E\+A\+R\+T\+\_\+\+B\+E\+AT@{D\+E\+F\+A\+U\+L\+T\+\_\+\+H\+E\+A\+R\+T\+\_\+\+B\+E\+AT}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!D\+E\+F\+A\+U\+L\+T\+\_\+\+H\+E\+A\+R\+T\+\_\+\+B\+E\+AT@{D\+E\+F\+A\+U\+L\+T\+\_\+\+H\+E\+A\+R\+T\+\_\+\+B\+E\+AT}}\item[{\em -D\+E\+F\+A\+U\+L\+T\+\_\+\+H\+E\+A\+R\+T\+\_\+\+B\+E\+AT\hypertarget{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa94033b4717c83f52cd008fe38b712e21}{}\label{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa94033b4717c83f52cd008fe38b712e21} -}]默认检测掉电功能时间. \index{M\+A\+X\+\_\+\+S\+C\+A\+N\+\_\+\+N\+O\+D\+ES@{M\+A\+X\+\_\+\+S\+C\+A\+N\+\_\+\+N\+O\+D\+ES}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!M\+A\+X\+\_\+\+S\+C\+A\+N\+\_\+\+N\+O\+D\+ES@{M\+A\+X\+\_\+\+S\+C\+A\+N\+\_\+\+N\+O\+D\+ES}}\item[{\em -M\+A\+X\+\_\+\+S\+C\+A\+N\+\_\+\+N\+O\+D\+ES\hypertarget{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa3db6fc46c7ce55cdf3a968b70e96374a}{}\label{classydlidar_1_1_y_dlidar_driver_a13a4f2dc4067b43794b2c47c06d5d27aa3db6fc46c7ce55cdf3a968b70e96374a} -}]最大扫描点数. \end{description} -\end{Desc} -\subsubsection[{\texorpdfstring{anonymous enum}{anonymous enum}}]{\setlength{\rightskip}{0pt plus 5cm}anonymous enum}\hypertarget{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0da}{}\label{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0da} -\begin{Desc} -\item[Enumerator]\par -\begin{description} -\index{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4}}\item[{\em -Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4\hypertarget{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa3303d67e56b0dd5a36397a5326965713}{}\label{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa3303d67e56b0dd5a36397a5326965713} -}]F4雷达型号代号. \index{Y\+D\+L\+I\+D\+A\+R\+\_\+\+T1@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+T1}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!Y\+D\+L\+I\+D\+A\+R\+\_\+\+T1@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+T1}}\item[{\em -Y\+D\+L\+I\+D\+A\+R\+\_\+\+T1\hypertarget{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa6ea5ed1cde351e4b5df40d1bbd697212}{}\label{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa6ea5ed1cde351e4b5df40d1bbd697212} -}]T1雷达型号代号. \index{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F2@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F2}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!Y\+D\+L\+I\+D\+A\+R\+\_\+\+F2@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F2}}\item[{\em -Y\+D\+L\+I\+D\+A\+R\+\_\+\+F2\hypertarget{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa7d64a3d3e3d3ef6d1db5c0a8740a523a}{}\label{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa7d64a3d3e3d3ef6d1db5c0a8740a523a} -}]F2雷达型号代号. \index{Y\+D\+L\+I\+D\+A\+R\+\_\+\+S4@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+S4}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!Y\+D\+L\+I\+D\+A\+R\+\_\+\+S4@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+S4}}\item[{\em -Y\+D\+L\+I\+D\+A\+R\+\_\+\+S4\hypertarget{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daab1d9ab224053d610e97ebee7236345ba}{}\label{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daab1d9ab224053d610e97ebee7236345ba} -}]S4雷达型号代号. \index{Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4}}\item[{\em -Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4\hypertarget{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa6bd6fb5e1f3ddd4e36ab12e53c114039}{}\label{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa6bd6fb5e1f3ddd4e36ab12e53c114039} -}]G4雷达型号代号. \index{Y\+D\+L\+I\+D\+A\+R\+\_\+\+X4@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+X4}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!Y\+D\+L\+I\+D\+A\+R\+\_\+\+X4@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+X4}}\item[{\em -Y\+D\+L\+I\+D\+A\+R\+\_\+\+X4\hypertarget{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa5065807c3aa6a4a731858dda599667b7}{}\label{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa5065807c3aa6a4a731858dda599667b7} -}]X4雷达型号代号. \index{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4\+P\+RO@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4\+P\+RO}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4\+P\+RO@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4\+P\+RO}}\item[{\em -Y\+D\+L\+I\+D\+A\+R\+\_\+\+F4\+P\+RO\hypertarget{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa700fca9e58a191c0d1a4d13ae67927e8}{}\label{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa700fca9e58a191c0d1a4d13ae67927e8} -}]F4\+P\+R\+O雷达型号代号. \index{Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4C@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4C}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}}\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4C@{Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4C}}\item[{\em -Y\+D\+L\+I\+D\+A\+R\+\_\+\+G4C\hypertarget{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa55a9d7236d51f9d1d38d41cd102be527}{}\label{classydlidar_1_1_y_dlidar_driver_abbb612f1ac6a9f6dfdcfeafb149dd0daa55a9d7236d51f9d1d38d41cd102be527} -}]G4\+C雷达型号代号. \end{description} -\end{Desc} - - -\subsection{Constructor \& Destructor Documentation} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!Y\+Dlidar\+Driver@{Y\+Dlidar\+Driver}} -\index{Y\+Dlidar\+Driver@{Y\+Dlidar\+Driver}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{Y\+Dlidar\+Driver()}{YDlidarDriver()}}]{\setlength{\rightskip}{0pt plus 5cm}ydlidar\+::\+Y\+Dlidar\+Driver\+::\+Y\+Dlidar\+Driver ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_a19e20b6aa35834507a0dacc8a3c510e6}{}\label{classydlidar_1_1_y_dlidar_driver_a19e20b6aa35834507a0dacc8a3c510e6} -A constructor. A more elaborate description of the constructor. \index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!````~Y\+Dlidar\+Driver@{$\sim$\+Y\+Dlidar\+Driver}} -\index{````~Y\+Dlidar\+Driver@{$\sim$\+Y\+Dlidar\+Driver}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{$\sim$\+Y\+Dlidar\+Driver()}{~YDlidarDriver()}}]{\setlength{\rightskip}{0pt plus 5cm}ydlidar\+::\+Y\+Dlidar\+Driver\+::$\sim$\+Y\+Dlidar\+Driver ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [virtual]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_a87a50f9f1093a93b4d985f3e8bf27fde}{}\label{classydlidar_1_1_y_dlidar_driver_a87a50f9f1093a93b4d985f3e8bf27fde} -A destructor. A more elaborate description of the destructor. - -\subsection{Member Function Documentation} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!ascend\+Scan\+Data@{ascend\+Scan\+Data}} -\index{ascend\+Scan\+Data@{ascend\+Scan\+Data}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{ascend\+Scan\+Data(node\+\_\+info $\ast$nodebuffer, size\+\_\+t count)}{ascendScanData(node_info *nodebuffer, size_t count)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::ascend\+Scan\+Data ( -\begin{DoxyParamCaption} -\item[{{\bf node\+\_\+info} $\ast$}]{nodebuffer, } -\item[{size\+\_\+t}]{count} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a6494501f3fee2f6dc410f869bbc18cb9}{}\label{classydlidar_1_1_y_dlidar_driver_a6494501f3fee2f6dc410f869bbc18cb9} - - -补偿激光角度 ~\newline -把角度限制在0到360度之间 - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em nodebuffer} & 激光点信息 \\ -\hline -\mbox{\tt in} & {\em count} & 一圈激光点数 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -补偿之前，必须使用\+::grab\+Scan\+Data函数获取激光数据成功 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!connect@{connect}} -\index{connect@{connect}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{connect(const char $\ast$port\+\_\+path, uint32\+\_\+t baudrate)}{connect(const char *port_path, uint32_t baudrate)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::connect ( -\begin{DoxyParamCaption} -\item[{const char $\ast$}]{port\+\_\+path, } -\item[{uint32\+\_\+t}]{baudrate} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a2c5eeecccaa6ed874635de1617e8d7d8}{}\label{classydlidar_1_1_y_dlidar_driver_a2c5eeecccaa6ed874635de1617e8d7d8} - - -连接雷达 ~\newline -连接成功后，必须使用\+::disconnect函数关闭 - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em port\+\_\+path} & 串口号 \\ -\hline -\mbox{\tt in} & {\em file\+Mode} & 波特率，\+Y\+D\+L\+I\+D\+A\+R雷达有以下几个波特率： 115200 F4, G4C, S4A 128000 X4 153600 S4B 230600 F4\+P\+RO, G4 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回连接状态 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em 0} & 成功 \\ -\hline -{\em $<$} & 0 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -连接成功后，必须使用\+::disconnect函数关闭 -\end{DoxyNote} -\begin{DoxySeeAlso}{See also} -函数\+::\+Y\+Dlidar\+Driver\+::disconnect (“\+::”是指定有连接功能,可以看文档里的disconnect变成绿,点击它可以跳转到disconnect.) -\end{DoxySeeAlso} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!create\+Thread@{create\+Thread}} -\index{create\+Thread@{create\+Thread}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{create\+Thread()}{createThread()}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::create\+Thread ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_a2d2b317fa6381009222e03670812e917}{}\label{classydlidar_1_1_y_dlidar_driver_a2d2b317fa6381009222e03670812e917} - - -创建解析雷达数据线程 ~\newline - - -\begin{DoxyNote}{Note} -创建解析雷达数据线程之前，必须使用\+::start\+Scan函数开启扫图成功 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!disable\+Const\+Freq@{disable\+Const\+Freq}} -\index{disable\+Const\+Freq@{disable\+Const\+Freq}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{disable\+Const\+Freq(function\+\_\+state \&state, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{disableConstFreq(function_state &state, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::disable\+Const\+Freq ( -\begin{DoxyParamCaption} -\item[{{\bf function\+\_\+state} \&}]{state, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_ae4b3883dd18bf01737bc4783d2dae974}{}\label{classydlidar_1_1_y_dlidar_driver_ae4b3883dd18bf01737bc4783d2dae974} - - -关闭恒频功能 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em state} & 恒频状态 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!disable\+Lower\+Power@{disable\+Lower\+Power}} -\index{disable\+Lower\+Power@{disable\+Lower\+Power}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{disable\+Lower\+Power(function\+\_\+state \&state, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{disableLowerPower(function_state &state, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::disable\+Lower\+Power ( -\begin{DoxyParamCaption} -\item[{{\bf function\+\_\+state} \&}]{state, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a18895e94f42ce61890b4912727cdfbd8}{}\label{classydlidar_1_1_y_dlidar_driver_a18895e94f42ce61890b4912727cdfbd8} - - -关闭低功耗 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em state} & 低功耗状态 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作,关闭后 G4 在空闲模式下电~\newline -机和测距单元仍然工作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!enable\+Const\+Freq@{enable\+Const\+Freq}} -\index{enable\+Const\+Freq@{enable\+Const\+Freq}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{enable\+Const\+Freq(function\+\_\+state \&state, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{enableConstFreq(function_state &state, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::enable\+Const\+Freq ( -\begin{DoxyParamCaption} -\item[{{\bf function\+\_\+state} \&}]{state, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a1e5c25618be9867dfdb1aa2f5e9cb93c}{}\label{classydlidar_1_1_y_dlidar_driver_a1e5c25618be9867dfdb1aa2f5e9cb93c} - - -开启恒频功能 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em state} & 恒频状态 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!enable\+Lower\+Power@{enable\+Lower\+Power}} -\index{enable\+Lower\+Power@{enable\+Lower\+Power}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{enable\+Lower\+Power(function\+\_\+state \&state, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{enableLowerPower(function_state &state, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::enable\+Lower\+Power ( -\begin{DoxyParamCaption} -\item[{{\bf function\+\_\+state} \&}]{state, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a85a9af2aff7201a42f000299990b0ce5}{}\label{classydlidar_1_1_y_dlidar_driver_a85a9af2aff7201a42f000299990b0ce5} - - -低功耗使能 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em state} & 低功耗状态 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作,低功耗关闭,关闭后 G4 在空闲模式下电~\newline -机和测距单元仍然工作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!get\+Data@{get\+Data}} -\index{get\+Data@{get\+Data}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{get\+Data(uint8\+\_\+t $\ast$data, size\+\_\+t size)}{getData(uint8_t *data, size_t size)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::get\+Data ( -\begin{DoxyParamCaption} -\item[{uint8\+\_\+t $\ast$}]{data, } -\item[{size\+\_\+t}]{size} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_ad787e714bc05e5a70a42b096e632c60f}{}\label{classydlidar_1_1_y_dlidar_driver_ad787e714bc05e5a70a42b096e632c60f} - - -获取串口数据 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em data} & 数据指针 \\ -\hline -\mbox{\tt in} & {\em size} & 数据大小 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 获取成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 获取失败 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!get\+Device\+Info@{get\+Device\+Info}} -\index{get\+Device\+Info@{get\+Device\+Info}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{get\+Device\+Info(device\+\_\+info \&info, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{getDeviceInfo(device_info &info, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::get\+Device\+Info ( -\begin{DoxyParamCaption} -\item[{{\bf device\+\_\+info} \&}]{info, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_ab75303116c4ccb144ecc215e94114e1a}{}\label{classydlidar_1_1_y_dlidar_driver_ab75303116c4ccb144ecc215e94114e1a} - - -获取雷达设备信息 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em info} & 设备信息 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 获取成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & or R\+E\+S\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT 获取失败 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!get\+Health@{get\+Health}} -\index{get\+Health@{get\+Health}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{get\+Health(device\+\_\+health \&health, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{getHealth(device_health &health, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::get\+Health ( -\begin{DoxyParamCaption} -\item[{{\bf device\+\_\+health} \&}]{health, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a9fe6f8b842a2aff2c3ae13f8423b03f4}{}\label{classydlidar_1_1_y_dlidar_driver_a9fe6f8b842a2aff2c3ae13f8423b03f4} - - -获取雷达设备健康状态 ~\newline - - -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 获取成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & or R\+E\+S\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT 获取失败 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!get\+Heart\+Beat@{get\+Heart\+Beat}} -\index{get\+Heart\+Beat@{get\+Heart\+Beat}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{get\+Heart\+Beat() const }{getHeartBeat() const }}]{\setlength{\rightskip}{0pt plus 5cm}const bool ydlidar\+::\+Y\+Dlidar\+Driver\+::get\+Heart\+Beat ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classydlidar_1_1_y_dlidar_driver_a36b01c5124032be12ecbeffeefd38742}{}\label{classydlidar_1_1_y_dlidar_driver_a36b01c5124032be12ecbeffeefd38742} - - -获取当前雷达掉电保护功能 ~\newline - - -\begin{DoxyReturn}{Returns} -返回掉电保护是否开启 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em true} & 掉电保护开启 \\ -\hline -{\em false} & 掉电保护关闭 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!get\+Motor\+State@{get\+Motor\+State}} -\index{get\+Motor\+State@{get\+Motor\+State}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{get\+Motor\+State(function\+\_\+state \&state, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{getMotorState(function_state &state, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::get\+Motor\+State ( -\begin{DoxyParamCaption} -\item[{{\bf function\+\_\+state} \&}]{state, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_af5d460ababe4b8a34b02d33268f24d4d}{}\label{classydlidar_1_1_y_dlidar_driver_af5d460ababe4b8a34b02d33268f24d4d} - - -获取电机状态 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em state} & 电机状态 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!get\+Sampling\+Rate@{get\+Sampling\+Rate}} -\index{get\+Sampling\+Rate@{get\+Sampling\+Rate}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{get\+Sampling\+Rate(sampling\+\_\+rate \&rate, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{getSamplingRate(sampling_rate &rate, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::get\+Sampling\+Rate ( -\begin{DoxyParamCaption} -\item[{{\bf sampling\+\_\+rate} \&}]{rate, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a7b7812329013f119235abf74da397aaa}{}\label{classydlidar_1_1_y_dlidar_driver_a7b7812329013f119235abf74da397aaa} - - -获取激光雷达当前采样频率 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em frequency} & 采样频率 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!get\+Scan\+Frequency@{get\+Scan\+Frequency}} -\index{get\+Scan\+Frequency@{get\+Scan\+Frequency}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{get\+Scan\+Frequency(scan\+\_\+frequency \&frequency, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{getScanFrequency(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::get\+Scan\+Frequency ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+frequency} \&}]{frequency, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a76efb701e137121b213f61028e3f235e}{}\label{classydlidar_1_1_y_dlidar_driver_a76efb701e137121b213f61028e3f235e} - - -获取激光雷达当前扫描频率 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em frequency} & 扫描频率 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!get\+S\+D\+K\+Version@{get\+S\+D\+K\+Version}} -\index{get\+S\+D\+K\+Version@{get\+S\+D\+K\+Version}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{get\+S\+D\+K\+Version()}{getSDKVersion()}}]{\setlength{\rightskip}{0pt plus 5cm}std\+::string ydlidar\+::\+Y\+Dlidar\+Driver\+::get\+S\+D\+K\+Version ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [static]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_a542dc18ac8dbcda2a51657cf9bd44ae0}{}\label{classydlidar_1_1_y_dlidar_driver_a542dc18ac8dbcda2a51657cf9bd44ae0} - - -获取当前\+S\+D\+K版本号 ~\newline -静态函数 - -\begin{DoxyReturn}{Returns} -返回当前\+S\+KD 版本号 -\end{DoxyReturn} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!grab\+Scan\+Data@{grab\+Scan\+Data}} -\index{grab\+Scan\+Data@{grab\+Scan\+Data}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{grab\+Scan\+Data(node\+\_\+info $\ast$nodebuffer, size\+\_\+t \&count, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{grabScanData(node_info *nodebuffer, size_t &count, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::grab\+Scan\+Data ( -\begin{DoxyParamCaption} -\item[{{\bf node\+\_\+info} $\ast$}]{nodebuffer, } -\item[{size\+\_\+t \&}]{count, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a6d6e04efa9d7e5d4aea41ee53d4ea8af}{}\label{classydlidar_1_1_y_dlidar_driver_a6d6e04efa9d7e5d4aea41ee53d4ea8af} - - -获取激光数据 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em nodebuffer} & 激光点信息 \\ -\hline -\mbox{\tt in} & {\em count} & 一圈激光点数 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 获取成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 获取失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -获取之前，必须使用\+::start\+Scan函数开启扫描 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!isconnected@{isconnected}} -\index{isconnected@{isconnected}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{isconnected() const }{isconnected() const }}]{\setlength{\rightskip}{0pt plus 5cm}const bool ydlidar\+::\+Y\+Dlidar\+Driver\+::isconnected ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classydlidar_1_1_y_dlidar_driver_a2553d28304faa4acab6bd63e7c6c2ee6}{}\label{classydlidar_1_1_y_dlidar_driver_a2553d28304faa4acab6bd63e7c6c2ee6} - - -连接雷达状态 ~\newline - - -\begin{DoxyReturn}{Returns} -返回连接状态 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em true} & 成功 \\ -\hline -{\em false} & 失败 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!isscanning@{isscanning}} -\index{isscanning@{isscanning}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{isscanning() const }{isscanning() const }}]{\setlength{\rightskip}{0pt plus 5cm}const bool ydlidar\+::\+Y\+Dlidar\+Driver\+::isscanning ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -) const}\hypertarget{classydlidar_1_1_y_dlidar_driver_a37cd2766dec3536848aa25c88d9d1ea9}{}\label{classydlidar_1_1_y_dlidar_driver_a37cd2766dec3536848aa25c88d9d1ea9} - - -扫图状态 ~\newline - - -\begin{DoxyReturn}{Returns} -返回当前雷达扫图状态 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em true} & 正在扫图 \\ -\hline -{\em false} & 扫图关闭 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!reset@{reset}} -\index{reset@{reset}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{reset(uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{reset(uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::reset ( -\begin{DoxyParamCaption} -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a3dd4086c5685163f7c7487ea0f5af08c}{}\label{classydlidar_1_1_y_dlidar_driver_a3dd4086c5685163f7c7487ea0f5af08c} - - -重置激光雷达 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作, 如果在扫描中调用\+::stop函数停止扫描 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!send\+Command@{send\+Command}} -\index{send\+Command@{send\+Command}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{send\+Command(uint8\+\_\+t cmd, const void $\ast$payload=\+N\+U\+L\+L, size\+\_\+t payloadsize=0)}{sendCommand(uint8_t cmd, const void *payload=NULL, size_t payloadsize=0)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::send\+Command ( -\begin{DoxyParamCaption} -\item[{uint8\+\_\+t}]{cmd, } -\item[{const void $\ast$}]{payload = {\ttfamily NULL}, } -\item[{size\+\_\+t}]{payloadsize = {\ttfamily 0}} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_ab096ecdc3642c04e3e8b000e210c0962}{}\label{classydlidar_1_1_y_dlidar_driver_ab096ecdc3642c04e3e8b000e210c0962} - - -发送数据到雷达 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em cmd} & 命名码 \\ -\hline -\mbox{\tt in} & {\em payload} & payload \\ -\hline -\mbox{\tt in} & {\em payloadsize} & payloadsize \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!send\+Data@{send\+Data}} -\index{send\+Data@{send\+Data}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{send\+Data(const uint8\+\_\+t $\ast$data, size\+\_\+t size)}{sendData(const uint8_t *data, size_t size)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::send\+Data ( -\begin{DoxyParamCaption} -\item[{const uint8\+\_\+t $\ast$}]{data, } -\item[{size\+\_\+t}]{size} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_a998ba4b05927d19e8a0d4d29d3d47656}{}\label{classydlidar_1_1_y_dlidar_driver_a998ba4b05927d19e8a0d4d29d3d47656} - - -串口发送数据 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em data} & 发送数据指针 \\ -\hline -\mbox{\tt in} & {\em size} & 数据大小 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 发送成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 发送失败 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!send\+Heart\+Beat@{send\+Heart\+Beat}} -\index{send\+Heart\+Beat@{send\+Heart\+Beat}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{send\+Heart\+Beat()}{sendHeartBeat()}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::send\+Heart\+Beat ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_a6e7dc7cd2a73d24a763cebde840a5d30}{}\label{classydlidar_1_1_y_dlidar_driver_a6e7dc7cd2a73d24a763cebde840a5d30} - - -发送掉电保护命令 ~\newline - - -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 发送成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 发送失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -只有(\+G4, G4\+C, F4\+P\+R\+O)雷达支持掉电保护功能, 别的型号雷达暂不支持 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Heart\+Beat@{set\+Heart\+Beat}} -\index{set\+Heart\+Beat@{set\+Heart\+Beat}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Heart\+Beat(const bool \&enable)}{setHeartBeat(const bool &enable)}}]{\setlength{\rightskip}{0pt plus 5cm}void ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Heart\+Beat ( -\begin{DoxyParamCaption} -\item[{const bool \&}]{enable} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_af5d6603d3664d3efcb56d64d76d31956}{}\label{classydlidar_1_1_y_dlidar_driver_af5d6603d3664d3efcb56d64d76d31956} - - -设置雷达掉电保护使能 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em enable} & 是否开启掉电保护\+: true 开启 false 关闭 \\ -\hline -\end{DoxyParams} -\begin{DoxyNote}{Note} -只有(\+G4, G4\+C, F4\+P\+R\+O)雷达支持掉电保护功能, 别的型号雷达暂不支持 并且版本号大于等于2.0.\+9 才支持此功能, 小于2.0.\+9版本禁止开启掉电保护 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Intensities@{set\+Intensities}} -\index{set\+Intensities@{set\+Intensities}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Intensities(const bool \&isintensities)}{setIntensities(const bool &isintensities)}}]{\setlength{\rightskip}{0pt plus 5cm}void ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Intensities ( -\begin{DoxyParamCaption} -\item[{const bool \&}]{isintensities} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_afc543dbbe1c5e37afc366e3c92203533}{}\label{classydlidar_1_1_y_dlidar_driver_afc543dbbe1c5e37afc366e3c92203533} - - -设置雷达是否带信号质量 ~\newline -连接成功后，必须使用\+::disconnect函数关闭 - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em isintensities} & 是否带信号质量\+: true 带信号质量 false 无信号质量 \\ -\hline -\end{DoxyParams} -\begin{DoxyNote}{Note} -只有\+S4B(波特率是153600)雷达支持带信号质量, 别的型号雷达暂不支持 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Low\+Exposure@{set\+Low\+Exposure}} -\index{set\+Low\+Exposure@{set\+Low\+Exposure}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Low\+Exposure(scan\+\_\+exposure \&low\+\_\+exposure, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setLowExposure(scan_exposure &low_exposure, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Low\+Exposure ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+exposure} \&}]{low\+\_\+exposure, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a02257e37b792870a9c42f8abfbe543ad}{}\label{classydlidar_1_1_y_dlidar_driver_a02257e37b792870a9c42f8abfbe543ad} - - -设置低光功率模式 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em low\+\_\+exposure} & 扫描频率 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作, 当前操作是开关量,只有\+S4雷达支持此功能 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Low\+Exposure\+Add@{set\+Low\+Exposure\+Add}} -\index{set\+Low\+Exposure\+Add@{set\+Low\+Exposure\+Add}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Low\+Exposure\+Add(scan\+\_\+exposure \&exposure, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setLowExposureAdd(scan_exposure &exposure, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Low\+Exposure\+Add ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+exposure} \&}]{exposure, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a3f34ad1119b9b97c4af3936e80c182f4}{}\label{classydlidar_1_1_y_dlidar_driver_a3f34ad1119b9b97c4af3936e80c182f4} - - -增加激光曝光值 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em exposure} & 曝光值 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作,只有\+S4雷达支持此功能 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Low\+Exposurer\+Dis@{set\+Low\+Exposurer\+Dis}} -\index{set\+Low\+Exposurer\+Dis@{set\+Low\+Exposurer\+Dis}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Low\+Exposurer\+Dis(scan\+\_\+exposure \&exposure, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setLowExposurerDis(scan_exposure &exposure, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Low\+Exposurer\+Dis ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+exposure} \&}]{exposure, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_aece83871e5912d19bc7677676a5511f8}{}\label{classydlidar_1_1_y_dlidar_driver_aece83871e5912d19bc7677676a5511f8} - - -减小激光曝光值 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em exposure} & 曝光值 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作,只有\+S4雷达支持此功能 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Points\+For\+One\+Ring\+Flag@{set\+Points\+For\+One\+Ring\+Flag}} -\index{set\+Points\+For\+One\+Ring\+Flag@{set\+Points\+For\+One\+Ring\+Flag}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Points\+For\+One\+Ring\+Flag(scan\+\_\+points \&points, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setPointsForOneRingFlag(scan_points &points, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Points\+For\+One\+Ring\+Flag ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+points} \&}]{points, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a1c8d40889885386e6c5a7827b7747696}{}\label{classydlidar_1_1_y_dlidar_driver_a1c8d40889885386e6c5a7827b7747696} - - -设置扫描一圈固定激光点数 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em points} & 固定点数状态 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作, 当前操作是开关量,只有\+S4雷达支持此功能 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Rotation\+Inversion@{set\+Rotation\+Inversion}} -\index{set\+Rotation\+Inversion@{set\+Rotation\+Inversion}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Rotation\+Inversion(scan\+\_\+rotation \&rotation, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setRotationInversion(scan_rotation &rotation, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Rotation\+Inversion ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+rotation} \&}]{rotation, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a1569723d0e46b801aee5284455f3b1d1}{}\label{classydlidar_1_1_y_dlidar_driver_a1569723d0e46b801aee5284455f3b1d1} - - -设置电机逆顺时针旋转 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em rotation} & 旋转方向 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Rotation\+Positive@{set\+Rotation\+Positive}} -\index{set\+Rotation\+Positive@{set\+Rotation\+Positive}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Rotation\+Positive(scan\+\_\+rotation \&rotation, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setRotationPositive(scan_rotation &rotation, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Rotation\+Positive ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+rotation} \&}]{rotation, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_ae6645c26b9b46b2aa4aaae87521a38f1}{}\label{classydlidar_1_1_y_dlidar_driver_ae6645c26b9b46b2aa4aaae87521a38f1} - - -设置电机顺时针旋转 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em rotation} & 旋转方向 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Sampling\+Rate@{set\+Sampling\+Rate}} -\index{set\+Sampling\+Rate@{set\+Sampling\+Rate}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Sampling\+Rate(sampling\+\_\+rate \&rate, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setSamplingRate(sampling_rate &rate, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Sampling\+Rate ( -\begin{DoxyParamCaption} -\item[{{\bf sampling\+\_\+rate} \&}]{rate, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a30f9219bcf3aa3a8df2bbdae983ccd02}{}\label{classydlidar_1_1_y_dlidar_driver_a30f9219bcf3aa3a8df2bbdae983ccd02} - - -设置激光雷达当前采样频率 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em frequency} & 采样频率 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Save\+Low\+Exposure@{set\+Save\+Low\+Exposure}} -\index{set\+Save\+Low\+Exposure@{set\+Save\+Low\+Exposure}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Save\+Low\+Exposure(scan\+\_\+exposure \&low\+\_\+exposure, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setSaveLowExposure(scan_exposure &low_exposure, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Save\+Low\+Exposure ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+exposure} \&}]{low\+\_\+exposure, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a73ef6628afc1eadf2f3079db99b383c6}{}\label{classydlidar_1_1_y_dlidar_driver_a73ef6628afc1eadf2f3079db99b383c6} - - -保存当前激光曝光值 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em low\+\_\+exposure} & 低光功能状态 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作, 当前操作需在非低光功率模式下, ~\newline -只有\+S4雷达支持此功能 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Scan\+Frequency\+Add@{set\+Scan\+Frequency\+Add}} -\index{set\+Scan\+Frequency\+Add@{set\+Scan\+Frequency\+Add}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Scan\+Frequency\+Add(scan\+\_\+frequency \&frequency, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setScanFrequencyAdd(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Scan\+Frequency\+Add ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+frequency} \&}]{frequency, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a0feea99573991bb4eb6f8e1718a71435}{}\label{classydlidar_1_1_y_dlidar_driver_a0feea99573991bb4eb6f8e1718a71435} - - -设置增加扫描频率1\+HZ ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em frequency} & 扫描频率 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Scan\+Frequency\+Add\+Mic@{set\+Scan\+Frequency\+Add\+Mic}} -\index{set\+Scan\+Frequency\+Add\+Mic@{set\+Scan\+Frequency\+Add\+Mic}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Scan\+Frequency\+Add\+Mic(scan\+\_\+frequency \&frequency, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setScanFrequencyAddMic(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Scan\+Frequency\+Add\+Mic ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+frequency} \&}]{frequency, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_aa801f64f5ca2ce1e70ee096eb0b4b612}{}\label{classydlidar_1_1_y_dlidar_driver_aa801f64f5ca2ce1e70ee096eb0b4b612} - - -设置增加扫描频率0.1\+HZ ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em frequency} & 扫描频率 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Scan\+Frequency\+Dis@{set\+Scan\+Frequency\+Dis}} -\index{set\+Scan\+Frequency\+Dis@{set\+Scan\+Frequency\+Dis}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Scan\+Frequency\+Dis(scan\+\_\+frequency \&frequency, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setScanFrequencyDis(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Scan\+Frequency\+Dis ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+frequency} \&}]{frequency, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a811e3e1f0012925c8a90aebda9716738}{}\label{classydlidar_1_1_y_dlidar_driver_a811e3e1f0012925c8a90aebda9716738} - - -设置减小扫描频率1\+HZ ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em frequency} & 扫描频率 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Scan\+Frequency\+Dis\+Mic@{set\+Scan\+Frequency\+Dis\+Mic}} -\index{set\+Scan\+Frequency\+Dis\+Mic@{set\+Scan\+Frequency\+Dis\+Mic}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Scan\+Frequency\+Dis\+Mic(scan\+\_\+frequency \&frequency, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setScanFrequencyDisMic(scan_frequency &frequency, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Scan\+Frequency\+Dis\+Mic ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+frequency} \&}]{frequency, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a00e69cf360eeca890dbaf964ab6f67b7}{}\label{classydlidar_1_1_y_dlidar_driver_a00e69cf360eeca890dbaf964ab6f67b7} - - -设置减小扫描频率0.1\+HZ ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em frequency} & 扫描频率 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!set\+Scan\+Heartbeat@{set\+Scan\+Heartbeat}} -\index{set\+Scan\+Heartbeat@{set\+Scan\+Heartbeat}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{set\+Scan\+Heartbeat(scan\+\_\+heart\+\_\+beat \&beat, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{setScanHeartbeat(scan_heart_beat &beat, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::set\+Scan\+Heartbeat ( -\begin{DoxyParamCaption} -\item[{{\bf scan\+\_\+heart\+\_\+beat} \&}]{beat, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_ab2d5434c9b640a38f9d3b43b07c0b3eb}{}\label{classydlidar_1_1_y_dlidar_driver_ab2d5434c9b640a38f9d3b43b07c0b3eb} - - -设置雷达掉电保护状态 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em beat} & 掉电保护状态 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -停止扫描后再执行当前操作, 当前操作是开关量, (G4, G4C, F4\+P\+RO)版本号大于等于2.0.\+9才支持 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!simple\+Scan\+Data@{simple\+Scan\+Data}} -\index{simple\+Scan\+Data@{simple\+Scan\+Data}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{simple\+Scan\+Data(std\+::vector$<$ scan\+Dot $>$ $\ast$scan\+\_\+data, node\+\_\+info $\ast$buffer, size\+\_\+t count)}{simpleScanData(std::vector< scanDot > *scan_data, node_info *buffer, size_t count)}}]{\setlength{\rightskip}{0pt plus 5cm}void ydlidar\+::\+Y\+Dlidar\+Driver\+::simple\+Scan\+Data ( -\begin{DoxyParamCaption} -\item[{std\+::vector$<$ {\bf scan\+Dot} $>$ $\ast$}]{scan\+\_\+data, } -\item[{{\bf node\+\_\+info} $\ast$}]{buffer, } -\item[{size\+\_\+t}]{count} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a797de2678c6c81c84a8126cf184a0254}{}\label{classydlidar_1_1_y_dlidar_driver_a797de2678c6c81c84a8126cf184a0254} - - -解析激光信息数据到scan\+Dot数据类型 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em scan\+\_\+data} & 解析后激光数据 \\ -\hline -\mbox{\tt in} & {\em buffer} & 解析前激光信息数据 \\ -\hline -\mbox{\tt in} & {\em count} & 一圈激光点数 \\ -\hline -\end{DoxyParams} -\begin{DoxyNote}{Note} -解析之前，必须使用\+::ascend\+Scan\+Data函数获取激光数据成功 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!start\+Motor@{start\+Motor}} -\index{start\+Motor@{start\+Motor}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{start\+Motor()}{startMotor()}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::start\+Motor ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a2e686ef1ce60f3241352a798330f760b}{}\label{classydlidar_1_1_y_dlidar_driver_a2e686ef1ce60f3241352a798330f760b} - - -打开电机 ~\newline - - -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!start\+Scan@{start\+Scan}} -\index{start\+Scan@{start\+Scan}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{start\+Scan(bool force=false, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{startScan(bool force=false, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::start\+Scan ( -\begin{DoxyParamCaption} -\item[{bool}]{force = {\ttfamily false}, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a62888da8520422b7daaae89c2935460b}{}\label{classydlidar_1_1_y_dlidar_driver_a62888da8520422b7daaae89c2935460b} - - -开启扫描 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em force} & 扫描模式 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 开启成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 开启失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -只用开启一次成功即可 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!stop@{stop}} -\index{stop@{stop}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{stop()}{stop()}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::stop ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a7aa354e88eeb6984be4d18eae6367a0b}{}\label{classydlidar_1_1_y_dlidar_driver_a7aa354e88eeb6984be4d18eae6367a0b} - - -关闭扫描 ~\newline - - -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 关闭成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 关闭失败 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!stop\+Motor@{stop\+Motor}} -\index{stop\+Motor@{stop\+Motor}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{stop\+Motor()}{stopMotor()}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::stop\+Motor ( -\begin{DoxyParamCaption} -{} -\end{DoxyParamCaption} -)}\hypertarget{classydlidar_1_1_y_dlidar_driver_a6cdf0c5a7ddf2375c1392c3a0e65edfe}{}\label{classydlidar_1_1_y_dlidar_driver_a6cdf0c5a7ddf2375c1392c3a0e65edfe} - - -关闭电机 ~\newline - - -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!wait\+For\+Data@{wait\+For\+Data}} -\index{wait\+For\+Data@{wait\+For\+Data}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{wait\+For\+Data(size\+\_\+t data\+\_\+count, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T, size\+\_\+t $\ast$returned\+\_\+size=\+N\+U\+L\+L)}{waitForData(size_t data_count, uint32_t timeout=DEFAULT_TIMEOUT, size_t *returned_size=NULL)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::wait\+For\+Data ( -\begin{DoxyParamCaption} -\item[{size\+\_\+t}]{data\+\_\+count, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}, } -\item[{size\+\_\+t $\ast$}]{returned\+\_\+size = {\ttfamily NULL}} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_a13f404b44f51941d1642bfe250de3522}{}\label{classydlidar_1_1_y_dlidar_driver_a13f404b44f51941d1642bfe250de3522} - - -等待固定数量串口数据 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em data\+\_\+count} & 等待数据大小 \\ -\hline -\mbox{\tt in} & {\em timeout} & 等待时间 \\ -\hline -\mbox{\tt in} & {\em returned\+\_\+size} & 实际数据大小 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 获取成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT} & 等待超时 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 获取失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -当timeout = -\/1 时, 将一直等待 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!wait\+Package@{wait\+Package}} -\index{wait\+Package@{wait\+Package}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{wait\+Package(node\+\_\+info $\ast$node, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{waitPackage(node_info *node, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::wait\+Package ( -\begin{DoxyParamCaption} -\item[{{\bf node\+\_\+info} $\ast$}]{node, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_aaf78903693f58c7f739dfa493573b3b1}{}\label{classydlidar_1_1_y_dlidar_driver_aaf78903693f58c7f739dfa493573b3b1} - - -解包激光数据 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em node} & 解包后激光点信息 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!wait\+Response\+Header@{wait\+Response\+Header}} -\index{wait\+Response\+Header@{wait\+Response\+Header}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{wait\+Response\+Header(lidar\+\_\+ans\+\_\+header $\ast$header, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{waitResponseHeader(lidar_ans_header *header, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::wait\+Response\+Header ( -\begin{DoxyParamCaption} -\item[{{\bf lidar\+\_\+ans\+\_\+header} $\ast$}]{header, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_a0e089d615193ccef4bf488f63ff8130e}{}\label{classydlidar_1_1_y_dlidar_driver_a0e089d615193ccef4bf488f63ff8130e} - - -等待激光数据包头 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em header} & 包头 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 获取成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT} & 等待超时 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 获取失败 \\ -\hline -\end{DoxyRetVals} -\begin{DoxyNote}{Note} -当timeout = -\/1 时, 将一直等待 -\end{DoxyNote} -\index{ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}!wait\+Scan\+Data@{wait\+Scan\+Data}} -\index{wait\+Scan\+Data@{wait\+Scan\+Data}!ydlidar\+::\+Y\+Dlidar\+Driver@{ydlidar\+::\+Y\+Dlidar\+Driver}} -\subsubsection[{\texorpdfstring{wait\+Scan\+Data(node\+\_\+info $\ast$nodebuffer, size\+\_\+t \&count, uint32\+\_\+t timeout=\+D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+U\+T)}{waitScanData(node_info *nodebuffer, size_t &count, uint32_t timeout=DEFAULT_TIMEOUT)}}]{\setlength{\rightskip}{0pt plus 5cm}result\+\_\+t ydlidar\+::\+Y\+Dlidar\+Driver\+::wait\+Scan\+Data ( -\begin{DoxyParamCaption} -\item[{{\bf node\+\_\+info} $\ast$}]{nodebuffer, } -\item[{size\+\_\+t \&}]{count, } -\item[{uint32\+\_\+t}]{timeout = {\ttfamily {\bf D\+E\+F\+A\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT}}} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [protected]}}\hypertarget{classydlidar_1_1_y_dlidar_driver_a574996217284ce34191a2f3675a9f17b}{}\label{classydlidar_1_1_y_dlidar_driver_a574996217284ce34191a2f3675a9f17b} - - -发送数据到雷达 ~\newline - - - -\begin{DoxyParams}[1]{Parameters} -\mbox{\tt in} & {\em nodebuffer} & 激光信息指针 \\ -\hline -\mbox{\tt in} & {\em count} & 激光点数大小 \\ -\hline -\mbox{\tt in} & {\em timeout} & 超时时间 \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -返回执行结果 -\end{DoxyReturn} - -\begin{DoxyRetVals}{Return values} -{\em R\+E\+S\+U\+L\+T\+\_\+\+OK} & 成功 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+T\+I\+M\+E\+O\+UT} & 等待超时 \\ -\hline -{\em R\+E\+S\+U\+L\+T\+\_\+\+F\+A\+I\+LE} & 失败 \\ -\hline -\end{DoxyRetVals} - - -The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\item -/home/yang/tmp/sdk/src/ydlidar\+\_\+driver.\+cpp\end{DoxyCompactItemize} diff --git 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-1) Clone this project to your computer folder 2) Clone this project to your computer folder 2) Running cmake to build ydlidar\+\_\+test - -\section*{How to run Y\+D\+L\+I\+D\+AR S\+DK samples } - ---\$ cd samples --\$ ./ydlidar\+\_\+test /dev/tty\+U\+S\+B0 115200 0 - -You should see Y\+D\+L\+I\+D\+AR\textquotesingle{}s scan result in the console - -\section*{Upgrade Log } - -2018-\/04-\/16 version\+:1.\+3.\+1 1.\+Compensate for each laser point timestamp. \ No newline at end of file diff --git a/sdk/doc/latex/md__home_yang_tmp_sdk_README.tex b/sdk/doc/latex/md__home_yang_tmp_sdk_README.tex deleted file mode 100644 index 2faca04..0000000 --- a/sdk/doc/latex/md__home_yang_tmp_sdk_README.tex +++ /dev/null @@ -1,54 +0,0 @@ -S\+DK \href{https://github.com/yangfuyuan/sdk}{\tt test} application for Y\+D\+L\+I\+D\+AR - -Visit E\+AI Website for more details about \href{http://www.ydlidar.com/}{\tt Y\+D\+L\+I\+D\+AR} . - -\section*{How to build Y\+D\+L\+I\+D\+AR S\+DK samples } - -\$ git clone \href{https://github.com/yangfuyuan/sdk}{\tt https\+://github.\+com/yangfuyuan/sdk} \$ cd sdk \$ git checkout master \$ cd .. \$ mkdir build \$ cd build \$ cmake ../sdk \$ make \#\#\#linux \$ vs open Project.\+sln \#\#\#windows - -\section*{How to run Y\+D\+L\+I\+D\+AR S\+DK samples } - -\$ cd samples - -linux\+: \begin{DoxyVerb}$ ./ydlidar_test -$Please enter the lidar port:/dev/ttyUSB0 -$Please enter the lidar baud rate:230400 -\end{DoxyVerb} - - -windows\+: \begin{DoxyVerb}$ ydlidar_test.exe -$Please enter the lidar port:COM3 -$Please enter the lidar baud rate:230400 -\end{DoxyVerb} - - -===================================================================== You should see Y\+D\+L\+I\+D\+AR\textquotesingle{}s scan result in the console\+: \begin{DoxyVerb}Yd Lidar running correctly ! The health status: good -[YDLIDAR] Connection established in [/dev/ttyUSB0]: -Firmware version: 2.0.9 -Hardware version: 2 -Model: G4 -Serial: 2018022700000003 -[YDLIDAR INFO] Current Sampling Rate : 9K -[YDLIDAR INFO] Current Scan Frequency : 7.400000Hz -[YDLIDAR INFO] Now YDLIDAR is scanning ...... -Scan received: 43 ranges -Scan received: 1361 ranges -Scan received: 1412 ranges -\end{DoxyVerb} - - -\section*{Upgrade Log } - -2018-\/05-\/14 version\+:1.\+3.\+3 - -1.\+add the heart function constraint. - -2.\+add packet type with scan frequency support. - -2018-\/04-\/16 version\+:1.\+3.\+2 - -1.\+add multithreading support. - -2018-\/04-\/16 version\+:1.\+3.\+1 - -1.\+Compensate for each laser point timestamp. \ No newline at end of file diff --git a/sdk/doc/latex/namespaces.tex b/sdk/doc/latex/namespaces.tex deleted file mode 100644 index 6b37995..0000000 --- a/sdk/doc/latex/namespaces.tex +++ /dev/null @@ -1,4 +0,0 @@ -\section{Namespace List} -Here is a list of all documented namespaces with brief descriptions\+:\begin{DoxyCompactList} -\item\contentsline{section}{\hyperlink{namespaceserial}{serial} }{\pageref{namespaceserial}}{} -\end{DoxyCompactList} diff --git a/sdk/doc/latex/namespaceserial.tex b/sdk/doc/latex/namespaceserial.tex deleted file mode 100644 index c1e6a55..0000000 --- a/sdk/doc/latex/namespaceserial.tex +++ /dev/null @@ -1,169 +0,0 @@ -\hypertarget{namespaceserial}{}\section{serial Namespace Reference} -\label{namespaceserial}\index{serial@{serial}} -\subsection*{Classes} -\begin{DoxyCompactItemize} -\item -class \hyperlink{classserial_1_1_millisecond_timer}{Millisecond\+Timer} -\item -struct \hyperlink{structserial_1_1_port_info}{Port\+Info} -\item -class \hyperlink{classserial_1_1_serial}{Serial} -\item -struct \hyperlink{structserial_1_1termios2}{termios2} -\item -struct \hyperlink{structserial_1_1_timeout}{Timeout} -\end{DoxyCompactItemize} -\subsection*{Enumerations} -\begin{DoxyCompactItemize} -\item -enum \hyperlink{namespaceserial_a00b3281fa11cea770c0b0c8a106080f8}{bytesize\+\_\+t} \{ {\bfseries fivebits} = 5, -{\bfseries sixbits} = 6, -{\bfseries sevenbits} = 7, -{\bfseries eightbits} = 8 - \} -\item -enum \hyperlink{namespaceserial_a8f45d26bf7c9a06659e75b5004a50481}{parity\+\_\+t} \{ \\* -{\bfseries parity\+\_\+none} = 0, -{\bfseries parity\+\_\+odd} = 1, -{\bfseries parity\+\_\+even} = 2, -{\bfseries parity\+\_\+mark} = 3, -\\* -{\bfseries parity\+\_\+space} = 4 - \} -\item -enum \hyperlink{namespaceserial_af5b116611d6628a3aa8f788fdc09f469}{stopbits\+\_\+t} \{ {\bfseries stopbits\+\_\+one} = 1, -{\bfseries stopbits\+\_\+two} = 2, -{\bfseries stopbits\+\_\+one\+\_\+point\+\_\+five} - \} -\item -enum \hyperlink{namespaceserial_a93ef57a314b4e562f9eded6c15d34351}{flowcontrol\+\_\+t} \{ {\bfseries flowcontrol\+\_\+none} = 0, -{\bfseries flowcontrol\+\_\+software}, -{\bfseries flowcontrol\+\_\+hardware} - \} -\end{DoxyCompactItemize} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -timespec {\bfseries timespec\+\_\+from\+\_\+ms} (const uint32\+\_\+t millis)\hypertarget{namespaceserial_a09034c92478b6d7f950ecb91f41ff24e}{}\label{namespaceserial_a09034c92478b6d7f950ecb91f41ff24e} - -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -setup\+\_\+port -\/ Configure the port, eg. baud rate, data bits,etc. - - -\begin{DoxyParams}{Parameters} -{\em fd} & \+: The serial port \\ -\hline -{\em speed} & \+: The baud rate \\ -\hline -{\em data\+\_\+bits} & \+: The data bits \\ -\hline -{\em parity} & \+: The parity bits \\ -\hline -{\em stop\+\_\+bits} & \+: The stop bits\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Return 0 if everything is OK, otherwise -\/1 with some error msg. -\end{DoxyReturn} -\begin{DoxyNote}{Note} -Here are termios structure members\+: \begin{DoxyVerb}Member Description -c_cflag Control options -c_lflag Line options -c_iflag Input options -c_oflag Output options -c_cc Control characters -c_ispeed Input baud (new interface) -c_ospeed Output baud (new interface) -\end{DoxyVerb} - The c\+\_\+cflag member controls the baud rate, number of data bits, parity, stop bits, and hardware flow control. There are constants for all of the supported configurations. Constant Description \begin{DoxyVerb}CBAUD Bit mask for baud rate -B0 0 baud (drop DTR) -B50 50 baud -B75 75 baud -B110 110 baud -B134 134.5 baud -B150 150 baud -B200 200 baud -B300 300 baud -B600 600 baud -B1200 1200 baud -B1800 1800 baud -B2400 2400 baud -B4800 4800 baud -B9600 9600 baud -B19200 19200 baud -B38400 38400 baud -B57600 57,600 baud -B76800 76,800 baud -B115200 115,200 baud -EXTA External rate clock -EXTB External rate clock -CSIZE Bit mask for data bits -CS5 5 data bits -CS6 6 data bits -CS7 7 data bits -CS8 8 data bits -CSTOPB 2 stop bits (1 otherwise) -CREAD Enable receiver -PARENB Enable parity bit -PARODD Use odd parity instead of even -HUPCL Hangup (drop DTR) on last close -CLOCAL Local line - do not change "owner" of port -LOBLK Block job control output -CNEW_RTSCTS CRTSCTS Enable hardware flow control (not supported on all -platforms) -\end{DoxyVerb} - The input modes member c\+\_\+iflag controls any input processing that is done to characters received on the port. Like the c\+\_\+cflag field, the final value stored in c\+\_\+iflag is the bitwise OR of the desired options. \begin{DoxyVerb}Constant Description -INPCK Enable parity check -IGNPAR Ignore parity errors -PARMRK Mark parity errors -ISTRIP Strip parity bits -IXON Enable software flow control (outgoing) -IXOFF Enable software flow control (incoming) -IXANY Allow any character to start flow again -IGNBRK Ignore break condition -BRKINT Send a SIGINT when a break condition is detected -INLCR Map NL to CR -IGNCR Ignore CR -ICRNL Map CR to NL -IUCLC Map uppercase to lowercase -IMAXBEL Echo BEL on input line too long -\end{DoxyVerb} - Here are some examples of setting parity checking\+: ~\newline -No parity (8\+N1)\+: \begin{DoxyVerb}options.c_cflag &= ~PARENB -options.c_cflag &= ~CSTOPB -options.c_cflag &= ~CSIZE; -options.c_cflag |= CS8; -\end{DoxyVerb} - Even parity (7\+E1)\+: \begin{DoxyVerb}options.c_cflag |= PARENB -options.c_cflag &= ~PARODD -options.c_cflag &= ~CSTOPB -options.c_cflag &= ~CSIZE; -options.c_cflag |= CS7; -\end{DoxyVerb} - Odd parity (7\+O1)\+: \begin{DoxyVerb}options.c_cflag |= PARENB -options.c_cflag |= PARODD -options.c_cflag &= ~CSTOPB -options.c_cflag &= ~CSIZE; -options.c_cflag |= CS7; -\end{DoxyVerb} - -\end{DoxyNote} - - -\subsection{Enumeration Type Documentation} -\index{serial@{serial}!bytesize\+\_\+t@{bytesize\+\_\+t}} -\index{bytesize\+\_\+t@{bytesize\+\_\+t}!serial@{serial}} -\subsubsection[{\texorpdfstring{bytesize\+\_\+t}{bytesize_t}}]{\setlength{\rightskip}{0pt plus 5cm}enum {\bf serial\+::bytesize\+\_\+t}}\hypertarget{namespaceserial_a00b3281fa11cea770c0b0c8a106080f8}{}\label{namespaceserial_a00b3281fa11cea770c0b0c8a106080f8} -Enumeration defines the possible bytesizes for the serial port. \index{serial@{serial}!flowcontrol\+\_\+t@{flowcontrol\+\_\+t}} -\index{flowcontrol\+\_\+t@{flowcontrol\+\_\+t}!serial@{serial}} -\subsubsection[{\texorpdfstring{flowcontrol\+\_\+t}{flowcontrol_t}}]{\setlength{\rightskip}{0pt plus 5cm}enum {\bf serial\+::flowcontrol\+\_\+t}}\hypertarget{namespaceserial_a93ef57a314b4e562f9eded6c15d34351}{}\label{namespaceserial_a93ef57a314b4e562f9eded6c15d34351} -Enumeration defines the possible flowcontrol types for the serial port. \index{serial@{serial}!parity\+\_\+t@{parity\+\_\+t}} -\index{parity\+\_\+t@{parity\+\_\+t}!serial@{serial}} -\subsubsection[{\texorpdfstring{parity\+\_\+t}{parity_t}}]{\setlength{\rightskip}{0pt plus 5cm}enum {\bf serial\+::parity\+\_\+t}}\hypertarget{namespaceserial_a8f45d26bf7c9a06659e75b5004a50481}{}\label{namespaceserial_a8f45d26bf7c9a06659e75b5004a50481} -Enumeration defines the possible parity types for the serial port. \index{serial@{serial}!stopbits\+\_\+t@{stopbits\+\_\+t}} -\index{stopbits\+\_\+t@{stopbits\+\_\+t}!serial@{serial}} -\subsubsection[{\texorpdfstring{stopbits\+\_\+t}{stopbits_t}}]{\setlength{\rightskip}{0pt plus 5cm}enum {\bf serial\+::stopbits\+\_\+t}}\hypertarget{namespaceserial_af5b116611d6628a3aa8f788fdc09f469}{}\label{namespaceserial_af5b116611d6628a3aa8f788fdc09f469} -Enumeration defines the possible stopbit types for the serial port. \ No newline at end of file diff --git a/sdk/doc/latex/refman.tex b/sdk/doc/latex/refman.tex deleted file mode 100644 index b8a7ea4..0000000 --- a/sdk/doc/latex/refman.tex +++ /dev/null @@ -1,193 +0,0 @@ -\documentclass[twoside]{book} - 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\markright{\thesection\ #1}% -} - -% Indices & bibliography -\usepackage{natbib} -\usepackage[titles]{tocloft} -\setcounter{tocdepth}{3} -\setcounter{secnumdepth}{5} -\makeindex - -% Hyperlinks (required, but should be loaded last) -\usepackage{ifpdf} -\ifpdf - \usepackage[pdftex,pagebackref=true]{hyperref} -\else - \usepackage[ps2pdf,pagebackref=true]{hyperref} -\fi -\hypersetup{% - colorlinks=true,% - linkcolor=blue,% - citecolor=blue,% - unicode% -} - -% Custom commands -\newcommand{\clearemptydoublepage}{% - \newpage{\pagestyle{empty}\cleardoublepage}% -} - -\usepackage{caption} -\captionsetup{labelsep=space,justification=centering,font={bf},singlelinecheck=off,skip=4pt,position=top} - -%===== C O N T E N T S ===== - -\begin{document} - -% Titlepage & ToC -\hypersetup{pageanchor=false, - bookmarksnumbered=true, - pdfencoding=unicode - } -\pagenumbering{roman} -\begin{titlepage} -\vspace*{7cm} -\begin{center}% -{\Large Y\+D\+L\+I\+D\+AR S\+DK \\[1ex]\large V1.\+3.\+3 }\\ -\vspace*{1cm} -{\large Generated by Doxygen 1.8.11}\\ -\end{center} -\end{titlepage} -\clearemptydoublepage -\tableofcontents -\clearemptydoublepage -\pagenumbering{arabic} -\hypersetup{pageanchor=true} - -%--- Begin generated contents --- -\chapter{Y\+D\+L\+I\+D\+AR S\+DK P\+A\+C\+K\+A\+GE V1.3.3} -\label{md__home_yang_tmp_sdk_README} -\hypertarget{md__home_yang_tmp_sdk_README}{} -\input{md__home_yang_tmp_sdk_README} -\chapter{Namespace Index} -\input{namespaces} -\chapter{Class Index} -\input{annotated} -\chapter{Namespace Documentation} -\input{namespaceserial} -\chapter{Class Documentation} -\input{structcmd__packet} -\input{class_c_yd_lidar} -\input{structdevice__health} -\input{structdevice__info} -\input{class_event} -\input{structfunction__state} -\input{struct_laser_config} -\input{struct_laser_scan} -\input{structlidar__ans__header} -\input{class_locker} -\input{classserial_1_1_millisecond_timer} -\input{structnode__info} -\input{structnode__package} -\input{structnode__packages} -\input{struct_package_node} -\input{structserial_1_1_port_info} -\input{structsampling__rate} -\input{structscan__exposure} -\input{structscan__frequency} -\input{structscan__heart__beat} -\input{structscan__points} -\input{structscan__rotation} -\input{structscan_dot} -\input{class_scoped_locker} -\input{classserial_1_1_serial_1_1_scoped_read_lock} -\input{classserial_1_1_serial_1_1_scoped_write_lock} -\input{classserial_1_1_serial} -\input{classserial_1_1serial_1_1_serial_1_1_serial_impl} -\input{structserial_1_1termios2} -\input{class_thread} -\input{structserial_1_1_timeout} -\input{classydlidar_1_1_y_dlidar_driver} -%--- End generated contents --- - -% Index -\backmatter -\newpage -\phantomsection -\clearemptydoublepage -\addcontentsline{toc}{chapter}{Index} -\printindex - -\end{document} diff --git a/sdk/doc/latex/struct_laser_config.tex b/sdk/doc/latex/struct_laser_config.tex deleted file mode 100644 index 6b05fd5..0000000 --- a/sdk/doc/latex/struct_laser_config.tex +++ /dev/null @@ -1,46 +0,0 @@ -\hypertarget{struct_laser_config}{}\section{Laser\+Config Struct Reference} -\label{struct_laser_config}\index{Laser\+Config@{Laser\+Config}} - - -A struct for returning configuration from the Y\+D\+L\+I\+D\+AR. - - - - -{\ttfamily \#include $<$ydlidar\+\_\+driver.\+h$>$} - -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -float \hyperlink{struct_laser_config_a0b68f6041dc05310626ef221d4cc2db9}{min\+\_\+angle}\hypertarget{struct_laser_config_a0b68f6041dc05310626ef221d4cc2db9}{}\label{struct_laser_config_a0b68f6041dc05310626ef221d4cc2db9} - -\begin{DoxyCompactList}\small\item\em Start angle for the laser scan \mbox{[}rad\mbox{]}. 0 is forward and angles are measured clockwise when viewing Y\+D\+L\+I\+D\+AR from the top. \end{DoxyCompactList}\item -float \hyperlink{struct_laser_config_a2d09a717415770110787788127ad6b14}{max\+\_\+angle}\hypertarget{struct_laser_config_a2d09a717415770110787788127ad6b14}{}\label{struct_laser_config_a2d09a717415770110787788127ad6b14} - -\begin{DoxyCompactList}\small\item\em Stop angle for the laser scan \mbox{[}rad\mbox{]}. 0 is forward and angles are measured clockwise when viewing Y\+D\+L\+I\+D\+AR from the top. \end{DoxyCompactList}\item -float \hyperlink{struct_laser_config_a67279ae0f648a129521576f52c321932}{ang\+\_\+increment}\hypertarget{struct_laser_config_a67279ae0f648a129521576f52c321932}{}\label{struct_laser_config_a67279ae0f648a129521576f52c321932} - -\begin{DoxyCompactList}\small\item\em Scan resolution \mbox{[}rad\mbox{]}. \end{DoxyCompactList}\item -float \hyperlink{struct_laser_config_ada1a720957176549489916335edcc335}{time\+\_\+increment}\hypertarget{struct_laser_config_ada1a720957176549489916335edcc335}{}\label{struct_laser_config_ada1a720957176549489916335edcc335} - -\begin{DoxyCompactList}\small\item\em Scan resoltuion \mbox{[}s\mbox{]}. \end{DoxyCompactList}\item -float \hyperlink{struct_laser_config_af40c5e3902bb931e337ea400682e5636}{scan\+\_\+time}\hypertarget{struct_laser_config_af40c5e3902bb931e337ea400682e5636}{}\label{struct_laser_config_af40c5e3902bb931e337ea400682e5636} - -\begin{DoxyCompactList}\small\item\em Time between scans. \end{DoxyCompactList}\item -float \hyperlink{struct_laser_config_a262652da08f505f112be9e017fb43a43}{min\+\_\+range}\hypertarget{struct_laser_config_a262652da08f505f112be9e017fb43a43}{}\label{struct_laser_config_a262652da08f505f112be9e017fb43a43} - -\begin{DoxyCompactList}\small\item\em Minimum range \mbox{[}m\mbox{]}. \end{DoxyCompactList}\item -float \hyperlink{struct_laser_config_a977dcea9a68dc9dd21113fd0eff24c9c}{max\+\_\+range}\hypertarget{struct_laser_config_a977dcea9a68dc9dd21113fd0eff24c9c}{}\label{struct_laser_config_a977dcea9a68dc9dd21113fd0eff24c9c} - -\begin{DoxyCompactList}\small\item\em Maximum range \mbox{[}m\mbox{]}. \end{DoxyCompactList}\item -float \hyperlink{struct_laser_config_ae52eb0e0aca41f6dde58700a642e4c80}{range\+\_\+res}\hypertarget{struct_laser_config_ae52eb0e0aca41f6dde58700a642e4c80}{}\label{struct_laser_config_ae52eb0e0aca41f6dde58700a642e4c80} - -\begin{DoxyCompactList}\small\item\em Range Resolution \mbox{[}m\mbox{]}. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -A struct for returning configuration from the Y\+D\+L\+I\+D\+AR. - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/struct_laser_scan.tex b/sdk/doc/latex/struct_laser_scan.tex deleted file mode 100644 index 1572866..0000000 --- a/sdk/doc/latex/struct_laser_scan.tex +++ /dev/null @@ -1,41 +0,0 @@ -\hypertarget{struct_laser_scan}{}\section{Laser\+Scan Struct Reference} -\label{struct_laser_scan}\index{Laser\+Scan@{Laser\+Scan}} - - -{\ttfamily \#include $<$ydlidar\+\_\+driver.\+h$>$} - - - -Collaboration diagram for Laser\+Scan\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=149pt]{struct_laser_scan__coll__graph} -\end{center} -\end{figure} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -std\+::vector$<$ float $>$ \hyperlink{struct_laser_scan_a4d059cb77f0f9f6e558db50c9993f7df}{ranges}\hypertarget{struct_laser_scan_a4d059cb77f0f9f6e558db50c9993f7df}{}\label{struct_laser_scan_a4d059cb77f0f9f6e558db50c9993f7df} - -\begin{DoxyCompactList}\small\item\em Array of ranges. \end{DoxyCompactList}\item -std\+::vector$<$ float $>$ \hyperlink{struct_laser_scan_a6e68040137d787ef7ef47580d147c503}{intensities}\hypertarget{struct_laser_scan_a6e68040137d787ef7ef47580d147c503}{}\label{struct_laser_scan_a6e68040137d787ef7ef47580d147c503} - -\begin{DoxyCompactList}\small\item\em Array of intensities. \end{DoxyCompactList}\item -uint64\+\_\+t \hyperlink{struct_laser_scan_ad37e2a54c7eff58cad7576d51916b859}{self\+\_\+time\+\_\+stamp}\hypertarget{struct_laser_scan_ad37e2a54c7eff58cad7576d51916b859}{}\label{struct_laser_scan_ad37e2a54c7eff58cad7576d51916b859} - -\begin{DoxyCompactList}\small\item\em Self reported time stamp in nanoseconds. \end{DoxyCompactList}\item -uint64\+\_\+t \hyperlink{struct_laser_scan_a1bb6b997ce698fbc516bc20ab3ba3399}{system\+\_\+time\+\_\+stamp}\hypertarget{struct_laser_scan_a1bb6b997ce698fbc516bc20ab3ba3399}{}\label{struct_laser_scan_a1bb6b997ce698fbc516bc20ab3ba3399} - -\begin{DoxyCompactList}\small\item\em System time when first range was measured in nanoseconds. \end{DoxyCompactList}\item -\hyperlink{struct_laser_config}{Laser\+Config} \hyperlink{struct_laser_scan_a5c7dd0b85432e62cf319f2ad4ec058b4}{config}\hypertarget{struct_laser_scan_a5c7dd0b85432e62cf319f2ad4ec058b4}{}\label{struct_laser_scan_a5c7dd0b85432e62cf319f2ad4ec058b4} - -\begin{DoxyCompactList}\small\item\em Configuration of scan. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -A struct for returning laser readings from the Y\+D\+L\+I\+D\+AR current\+Angle = min\+\_\+angle + ang\+\_\+increment$\ast$index for( int i =0; i $<$ ranges.\+size(); i++) \{ double current\+Angle = config.\+min\+\_\+angle + i$\ast$config.ang\+\_\+increment; double current\+Distance = ranges\mbox{[}i\mbox{]}; \} - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/struct_laser_scan__coll__graph.md5 b/sdk/doc/latex/struct_laser_scan__coll__graph.md5 deleted file mode 100644 index d003aa2..0000000 --- a/sdk/doc/latex/struct_laser_scan__coll__graph.md5 +++ /dev/null @@ -1 +0,0 @@ -e7e1677643b23871d0e5cf057fcc3946 \ No newline at end of file diff --git a/sdk/doc/latex/struct_laser_scan__coll__graph.pdf b/sdk/doc/latex/struct_laser_scan__coll__graph.pdf deleted file mode 100644 index d5a02a433ec9d867ff2b97758c27ef4416df10aa..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 12338 zcmbul1yEeu67NlL2@XL6Lx2z<$l&g-!QI^k7~I|69fG?~mgEru005ncnWeoE`1##Z&)!JL$iUjr2$6>e(as)hq-TZboSq;zDAPrc_U)ef zYLD>f$FKtLkd9XVLdRvO7)gu91R055DYa}%h(OkG247L^K zX&0lMJ&7rHQU?1%@A&&BrjMt~SWQ1+ebp|%u-X*29&oe_4|7#n%RbenBbYomRwaCD zV?G3BS2X{i&Rl}U+m#3QBqbx#pal$SY9Ux(x-pY!&@Jun_BwM*!H&PbIFhL8MzEv) zT#gNF_JtOIm%wL-zH2!yI@i^=psV1BP4Q)`NWY(pJ&@+(Xarq$I!@LKg95rEk5s3B zLaT4xPyZ}W!Ux%+%QqLS3b=74sIEM1ZkI6A9kD}*Mj*q#68C)elJb{4zq~(ZnvtI2 z<@(Er;a>&$T>@cedr<}Z=kx=(xL$tgj!$iY_)r0J=|lCPu#lf6@aRJ^KOvJ&#V>$k0qr zz}gw0@hs5;fK2QFAPXx%>$kPwbIfORJHSgn{b?Riu(gBDKi2Wb|8Mp0jVL@v1?z$A zY+hm+xcn`P1MI;LzgO|HTft{5AtOgK10#7+fftj%wkdC9XYBwsFtP)@q)h%FyJCGF z|5s15{cBnOx1N3p^QZZN03b6H@b{Mf2n+x=RyOv32#f$`Cg%UR3yxil6g8K>kfRa$ zViF=Yteu>k(86GS5_=`A*MUjs%L(n|)By1c656*J8r2`rArSq3)#EzON#|+*aW;1p zZ!?{7R@3dIWhS%P6Pvrf03|IxA`Dw>1qRY!Q-2o=w#YA|oNLL!8%>GDDmnvhjj}IF zMz#_uklp9ePq=Uvj(@p>7H!>Yx1W!nZ%%>l4ZNGgZ2dKan9JNNh$RSGZ9O6$Jsy4t zR*J&*HcYM0oe&yDVb~lk;bEnySe7QJn6MAG2)YxKEV{-<9=9s~l44@;y4&a0umB`5 z+#)~3>nAklP*>k{P0b8`v}Aa`9m=CE=r6Ey?6-{z%~0MfEP%9C{5w91Xi`3+BWOnl zhf`?!e)=bcZL@4mOIcJNdslBrct~HKgp2R(tHZHQJ_|mNMF9%lX>jd^sD4d|b~bZ7 za$njg9i22B;o*Bv^Tg@ks$*@QaRj5 zYj4{WIWZx;{`sgG`xan^mPI%Ct#?`!F@(Q>56@n@EX&r;Ce#i1 zRc0h=-+dG&#F}nUV|!*GgeJG{qjzC#=%d@BOXDlTlZy62ZV$vK^mQEPn)NI(Z{qgs zI|_`gS2lYOA^w>RK3*gw5J8t&!H50(grD0w3SBIpV6*&>9${}Y)h}_jHlS_z9$~Zc zG#_DIUJ;Hx8&scowRzF@0(*JajK*q5OJ66;LKQXWP}c2@4OguRe>H<&VcT!-r$qmKHX zMkO=UCHStkx3}He8b-JmhL=uewwGZ4P;-^NXeei&a?|NBPBfnVal!9{k(Wa8ya9Y# zeLYumHmNlPL-ykAxAgC>*=#O)p>o>R3*G1<$FMY@Ndx+PWd(6LjO2HcAS+ZHER5x$ z6@KBlo%Z+&8x-aB^&Q^P66AtA9%fG!S0KdZT!eRIv9Wga78)w&|Y z^>}T;G+1WnDLM0#qxqy-@L+evVM+ukN&9+;PA}8L*CuLXM$pMyNQbt|Zy%^J-*w2k z6RQ028O#%Gm zo%BJUlopde^9V8SshTy9T>cjj!&*U7j8OlFoD;)EkBAHU@{@N*wV6#-(`gXvDS-e?kIU5WBr zH7jk$HnQP_w!48Tb8Dy|=kNmj);AfGU%<=9Oibtg*yc12IF*j*%-l(=IXy9-`R0-w zWFkc&T-2hzg)d_1x`_44k;0#wEgbvkw7s(wQ`=)LtnJb5m@l#bIqe%Pt7`WYYiZ

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z2>i41|I8`ich>*(xiILNLpB4M0O(ZAK>Q#(v%iJkj#SJH?M>~T8C3?>m%Hfy|AY0p z1pn=YnfV2r{r7|AnS=fJ=)ceYSTobV=r89lEBm7{{KNN)@<*iyFfu+`TLSCD7;8u0Q7@XylxZ!f;^yLP`bA!%m#l82X-%KwYfb$CH~|AEQ^|BV|zleW)T z_j3aSJ{ahkfvo{RS|AfG3*dvPy}b}ajQCX|%F<9q^J8#)*~ zW8(ks)BX)01OLgN|GAq4^`6_@+T@S#m)-ouApd)kGuX%&@r6J}r2p3eU}0uvWCj=m z{%AlTE5mc&z8nD1Um86<6Yx13|E19b|JRO@{h7`F4?7@`5%}L4Jw5aPB?c?wbCLdY zEw)cmXBP-$X9XgXlMBm=ApRfrx?das diff --git a/sdk/doc/latex/struct_package_node.tex b/sdk/doc/latex/struct_package_node.tex deleted file mode 100644 index e9b135f..0000000 --- a/sdk/doc/latex/struct_package_node.tex +++ /dev/null @@ -1,16 +0,0 @@ -\hypertarget{struct_package_node}{}\section{Package\+Node Struct Reference} -\label{struct_package_node}\index{Package\+Node@{Package\+Node}} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint8\+\_\+t {\bfseries Pakage\+Sample\+Quality}\hypertarget{struct_package_node_aa93fa6630d9886ae0e381e06a72884cf}{}\label{struct_package_node_aa93fa6630d9886ae0e381e06a72884cf} - -\item -uint16\+\_\+t {\bfseries Pakage\+Sample\+Distance}\hypertarget{struct_package_node_a1ce84783c40c6f026a1b2dad2347d7a7}{}\label{struct_package_node_a1ce84783c40c6f026a1b2dad2347d7a7} - -\end{DoxyCompactItemize} - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/structcmd__packet.tex b/sdk/doc/latex/structcmd__packet.tex deleted file mode 100644 index e9857c0..0000000 --- a/sdk/doc/latex/structcmd__packet.tex +++ /dev/null @@ -1,22 +0,0 @@ -\hypertarget{structcmd__packet}{}\section{cmd\+\_\+packet Struct Reference} -\label{structcmd__packet}\index{cmd\+\_\+packet@{cmd\+\_\+packet}} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint8\+\_\+t {\bfseries sync\+Byte}\hypertarget{structcmd__packet_afbbf12329459d281e93fc742d1a78009}{}\label{structcmd__packet_afbbf12329459d281e93fc742d1a78009} - -\item -uint8\+\_\+t {\bfseries cmd\+\_\+flag}\hypertarget{structcmd__packet_a87508f8232c382897c9159026985f3eb}{}\label{structcmd__packet_a87508f8232c382897c9159026985f3eb} - -\item -uint8\+\_\+t {\bfseries size}\hypertarget{structcmd__packet_aff384923e9d1d54d526ca755529eac05}{}\label{structcmd__packet_aff384923e9d1d54d526ca755529eac05} - -\item -uint8\+\_\+t {\bfseries data}\hypertarget{structcmd__packet_a3b8820a6357e147dd00ea67d9c9484c0}{}\label{structcmd__packet_a3b8820a6357e147dd00ea67d9c9484c0} - -\end{DoxyCompactItemize} - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/structdevice__health.tex b/sdk/doc/latex/structdevice__health.tex deleted file mode 100644 index 16f8db9..0000000 --- a/sdk/doc/latex/structdevice__health.tex +++ /dev/null @@ -1,16 +0,0 @@ -\hypertarget{structdevice__health}{}\section{device\+\_\+health Struct Reference} -\label{structdevice__health}\index{device\+\_\+health@{device\+\_\+health}} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint8\+\_\+t \hyperlink{structdevice__health_ac3425f5555ecbb5a0da03b4cabe2777c}{status}\hypertarget{structdevice__health_ac3425f5555ecbb5a0da03b4cabe2777c}{}\label{structdevice__health_ac3425f5555ecbb5a0da03b4cabe2777c} - -\begin{DoxyCompactList}\small\item\em 健康状体 \end{DoxyCompactList}\item -uint16\+\_\+t \hyperlink{structdevice__health_a8815828d6de33cb43e8b72da48f51f23}{error\+\_\+code}\hypertarget{structdevice__health_a8815828d6de33cb43e8b72da48f51f23}{}\label{structdevice__health_a8815828d6de33cb43e8b72da48f51f23} - -\begin{DoxyCompactList}\small\item\em 错误代码 \end{DoxyCompactList}\end{DoxyCompactItemize} - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/structdevice__info.tex b/sdk/doc/latex/structdevice__info.tex deleted file mode 100644 index 74865ed..0000000 --- a/sdk/doc/latex/structdevice__info.tex +++ /dev/null @@ -1,22 +0,0 @@ -\hypertarget{structdevice__info}{}\section{device\+\_\+info Struct Reference} -\label{structdevice__info}\index{device\+\_\+info@{device\+\_\+info}} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint8\+\_\+t \hyperlink{structdevice__info_a3c491b342ed11af3c70358e7e8f6c935}{model}\hypertarget{structdevice__info_a3c491b342ed11af3c70358e7e8f6c935}{}\label{structdevice__info_a3c491b342ed11af3c70358e7e8f6c935} - -\begin{DoxyCompactList}\small\item\em 雷达型号 \end{DoxyCompactList}\item -uint16\+\_\+t \hyperlink{structdevice__info_af3d369a410577d85ec6b59ffeeaade48}{firmware\+\_\+version}\hypertarget{structdevice__info_af3d369a410577d85ec6b59ffeeaade48}{}\label{structdevice__info_af3d369a410577d85ec6b59ffeeaade48} - -\begin{DoxyCompactList}\small\item\em 固件版本号 \end{DoxyCompactList}\item -uint8\+\_\+t \hyperlink{structdevice__info_add77e9b0edbc4a0dbd8f91b0cac9ea13}{hardware\+\_\+version}\hypertarget{structdevice__info_add77e9b0edbc4a0dbd8f91b0cac9ea13}{}\label{structdevice__info_add77e9b0edbc4a0dbd8f91b0cac9ea13} - -\begin{DoxyCompactList}\small\item\em 硬件版本号 \end{DoxyCompactList}\item -uint8\+\_\+t \hyperlink{structdevice__info_abf23e35480aff36d846085ca6fd0eec3}{serialnum} \mbox{[}16\mbox{]}\hypertarget{structdevice__info_abf23e35480aff36d846085ca6fd0eec3}{}\label{structdevice__info_abf23e35480aff36d846085ca6fd0eec3} - -\begin{DoxyCompactList}\small\item\em 系列号 \end{DoxyCompactList}\end{DoxyCompactItemize} - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/structfunction__state.tex b/sdk/doc/latex/structfunction__state.tex deleted file mode 100644 index c269e8e..0000000 --- a/sdk/doc/latex/structfunction__state.tex +++ /dev/null @@ -1,13 +0,0 @@ -\hypertarget{structfunction__state}{}\section{function\+\_\+state Struct Reference} -\label{structfunction__state}\index{function\+\_\+state@{function\+\_\+state}} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint8\+\_\+t {\bfseries state}\hypertarget{structfunction__state_a87e57090eb56985ddb9b22fed035209d}{}\label{structfunction__state_a87e57090eb56985ddb9b22fed035209d} - -\end{DoxyCompactItemize} - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/structlidar__ans__header.tex b/sdk/doc/latex/structlidar__ans__header.tex deleted file mode 100644 index 321d707..0000000 --- a/sdk/doc/latex/structlidar__ans__header.tex +++ /dev/null @@ -1,25 +0,0 @@ -\hypertarget{structlidar__ans__header}{}\section{lidar\+\_\+ans\+\_\+header Struct Reference} -\label{structlidar__ans__header}\index{lidar\+\_\+ans\+\_\+header@{lidar\+\_\+ans\+\_\+header}} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint8\+\_\+t {\bfseries sync\+Byte1}\hypertarget{structlidar__ans__header_aeaa5beb7182c922d6d68697ecf60318a}{}\label{structlidar__ans__header_aeaa5beb7182c922d6d68697ecf60318a} - -\item -uint8\+\_\+t {\bfseries sync\+Byte2}\hypertarget{structlidar__ans__header_a9ce80818478513e1cb36de5a17917958}{}\label{structlidar__ans__header_a9ce80818478513e1cb36de5a17917958} - -\item -uint32\+\_\+t {\bfseries size}\+:30\hypertarget{structlidar__ans__header_a6e01bc2ec02153e40f3402790b917af3}{}\label{structlidar__ans__header_a6e01bc2ec02153e40f3402790b917af3} - -\item -uint32\+\_\+t {\bfseries sub\+Type}\+:2\hypertarget{structlidar__ans__header_abd31cd42537cebe7958b95d3f4a07169}{}\label{structlidar__ans__header_abd31cd42537cebe7958b95d3f4a07169} - -\item -uint8\+\_\+t {\bfseries type}\hypertarget{structlidar__ans__header_aab38102a1a266b5bfb842b10bf2804b2}{}\label{structlidar__ans__header_aab38102a1a266b5bfb842b10bf2804b2} - -\end{DoxyCompactItemize} - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/structnode__info.tex b/sdk/doc/latex/structnode__info.tex deleted file mode 100644 index 688d29e..0000000 --- a/sdk/doc/latex/structnode__info.tex +++ /dev/null @@ -1,25 +0,0 @@ -\hypertarget{structnode__info}{}\section{node\+\_\+info Struct Reference} -\label{structnode__info}\index{node\+\_\+info@{node\+\_\+info}} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint8\+\_\+t {\bfseries sync\+\_\+quality}\hypertarget{structnode__info_a45f5ed4efbe416d43171d63c669f02da}{}\label{structnode__info_a45f5ed4efbe416d43171d63c669f02da} - -\item -uint16\+\_\+t \hyperlink{structnode__info_a73e1d282a573f3daa74332fe29b90a26}{angle\+\_\+q6\+\_\+checkbit}\hypertarget{structnode__info_a73e1d282a573f3daa74332fe29b90a26}{}\label{structnode__info_a73e1d282a573f3daa74332fe29b90a26} - -\begin{DoxyCompactList}\small\item\em 信号质量 \end{DoxyCompactList}\item -uint16\+\_\+t \hyperlink{structnode__info_a82eaf27a6196e803d3618c83b052f78c}{distance\+\_\+q2}\hypertarget{structnode__info_a82eaf27a6196e803d3618c83b052f78c}{}\label{structnode__info_a82eaf27a6196e803d3618c83b052f78c} - -\begin{DoxyCompactList}\small\item\em 测距点角度 \end{DoxyCompactList}\item -uint64\+\_\+t \hyperlink{structnode__info_a92f30331da1d7d95f9998dcd3886574c}{stamp}\hypertarget{structnode__info_a92f30331da1d7d95f9998dcd3886574c}{}\label{structnode__info_a92f30331da1d7d95f9998dcd3886574c} - -\begin{DoxyCompactList}\small\item\em 当前测距点距离 \end{DoxyCompactList}\item -uint8\+\_\+t \hyperlink{structnode__info_a718a8a2f94497d5edea2be4550f74348}{scan\+\_\+frequence}\hypertarget{structnode__info_a718a8a2f94497d5edea2be4550f74348}{}\label{structnode__info_a718a8a2f94497d5edea2be4550f74348} - -\begin{DoxyCompactList}\small\item\em 时间戳 \end{DoxyCompactList}\end{DoxyCompactItemize} - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/ydlidar\+\_\+driver.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/structnode__package.tex b/sdk/doc/latex/structnode__package.tex deleted file mode 100644 index 09bfad8..0000000 --- a/sdk/doc/latex/structnode__package.tex +++ /dev/null @@ -1,40 +0,0 @@ -\hypertarget{structnode__package}{}\section{node\+\_\+package Struct Reference} -\label{structnode__package}\index{node\+\_\+package@{node\+\_\+package}} - - -Collaboration diagram for node\+\_\+package\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=193pt]{structnode__package__coll__graph} -\end{center} -\end{figure} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint16\+\_\+t {\bfseries package\+\_\+\+Head}\hypertarget{structnode__package_a6d48d3a1d1ef718065a82e7495fa2b26}{}\label{structnode__package_a6d48d3a1d1ef718065a82e7495fa2b26} - -\item -uint8\+\_\+t {\bfseries package\+\_\+\+CT}\hypertarget{structnode__package_a3be7b81a7cc4b7ef7beb816ccd414579}{}\label{structnode__package_a3be7b81a7cc4b7ef7beb816ccd414579} - -\item -uint8\+\_\+t {\bfseries now\+Package\+Num}\hypertarget{structnode__package_aad0a75920ad5c1393f1b00904ece2d67}{}\label{structnode__package_aad0a75920ad5c1393f1b00904ece2d67} - -\item -uint16\+\_\+t {\bfseries package\+First\+Sample\+Angle}\hypertarget{structnode__package_ac224f6450e8bd5bd069149babc37e1c4}{}\label{structnode__package_ac224f6450e8bd5bd069149babc37e1c4} - -\item -uint16\+\_\+t {\bfseries package\+Last\+Sample\+Angle}\hypertarget{structnode__package_af5768e03270d3b7d7f58b3b82156dc2e}{}\label{structnode__package_af5768e03270d3b7d7f58b3b82156dc2e} - -\item -uint16\+\_\+t {\bfseries check\+Sum}\hypertarget{structnode__package_a4b6d9990da9343143161aae929bb986e}{}\label{structnode__package_a4b6d9990da9343143161aae929bb986e} - -\item -\hyperlink{struct_package_node}{Package\+Node} {\bfseries package\+Sample} \mbox{[}Package\+Sample\+Max\+Lngth\mbox{]}\hypertarget{structnode__package_a284fb0bbde964f2d43661ce6dcd8bca8}{}\label{structnode__package_a284fb0bbde964f2d43661ce6dcd8bca8} - -\end{DoxyCompactItemize} - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item 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z%K~Eg_nJX0ERQdVzkMC;!H?(I{`WsgsF=GOKjrEP4p+9Zd945cu$} - - - -Collaboration diagram for serial\+:\+:Port\+Info\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=173pt]{structserial_1_1_port_info__coll__graph} -\end{center} -\end{figure} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -std\+::string \hyperlink{structserial_1_1_port_info_a5d4242cdd6c0d01260e24964af4c23d2}{port} -\item -std\+::string \hyperlink{structserial_1_1_port_info_a2ba37dd33d47b554aef5c15c1fe8b872}{description} -\item -std\+::string \hyperlink{structserial_1_1_port_info_a7d55368e1a4e6ccc9da6f4d339524837}{hardware\+\_\+id} -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Structure that describes a serial device. - -\subsection{Member Data Documentation} -\index{serial\+::\+Port\+Info@{serial\+::\+Port\+Info}!description@{description}} -\index{description@{description}!serial\+::\+Port\+Info@{serial\+::\+Port\+Info}} -\subsubsection[{\texorpdfstring{description}{description}}]{\setlength{\rightskip}{0pt plus 5cm}std\+::string serial\+::\+Port\+Info\+::description}\hypertarget{structserial_1_1_port_info_a2ba37dd33d47b554aef5c15c1fe8b872}{}\label{structserial_1_1_port_info_a2ba37dd33d47b554aef5c15c1fe8b872} -Human readable description of serial device if available. \index{serial\+::\+Port\+Info@{serial\+::\+Port\+Info}!hardware\+\_\+id@{hardware\+\_\+id}} -\index{hardware\+\_\+id@{hardware\+\_\+id}!serial\+::\+Port\+Info@{serial\+::\+Port\+Info}} -\subsubsection[{\texorpdfstring{hardware\+\_\+id}{hardware_id}}]{\setlength{\rightskip}{0pt plus 5cm}std\+::string serial\+::\+Port\+Info\+::hardware\+\_\+id}\hypertarget{structserial_1_1_port_info_a7d55368e1a4e6ccc9da6f4d339524837}{}\label{structserial_1_1_port_info_a7d55368e1a4e6ccc9da6f4d339524837} -Hardware ID (e.\+g. V\+ID\+:P\+ID of U\+SB serial devices) or \char`\"{}n/a\char`\"{} if not available. \index{serial\+::\+Port\+Info@{serial\+::\+Port\+Info}!port@{port}} -\index{port@{port}!serial\+::\+Port\+Info@{serial\+::\+Port\+Info}} -\subsubsection[{\texorpdfstring{port}{port}}]{\setlength{\rightskip}{0pt plus 5cm}std\+::string serial\+::\+Port\+Info\+::port}\hypertarget{structserial_1_1_port_info_a5d4242cdd6c0d01260e24964af4c23d2}{}\label{structserial_1_1_port_info_a5d4242cdd6c0d01260e24964af4c23d2} -Address of the serial port (this can be passed to the constructor of \hyperlink{classserial_1_1_serial}{Serial}). - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/serial.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/structserial_1_1_port_info__coll__graph.md5 b/sdk/doc/latex/structserial_1_1_port_info__coll__graph.md5 deleted file mode 100644 index bdeb407..0000000 --- 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zHZCrQzaiQeNeN{4Od3n;$-I`AVpOuWGjVfK2iYqytC?H6{bBSLWa$Fn z{Fj6HAJ{Q7kcSh%%+AXN0J5<^gSlKBf6~WtuAsNpregM%Z_NR0zrDmi#JsmT6Sc^UFEHEa%e;fnvx8NV>q|2^T~ z?W?<)xc=s;UjhOAEs29%%zvZV|JRvYJG;0_Sb>}Y9DhQ`pg-$CAm8t1{xhb4-%JcHQJet-4L^KA1QMSn)h9W?E& zU(P=OUcMcFPuPF2&==g@<#&AKt<7Gd^U}83zo2%v7XtooWI6EPbpA7#{(Q3Hd07MK zOhMMp4geqvkduWQKxgIZ>d4Rf%;i6emd+qYD{E6176)fbdivk}s5m>AxtTtn)cBvf z{hQYZ{{0BZAA3v!^t|{TEdOZxWj22z`~Pv@m;HH4 z|Dgea|K0Di_Fv+>&PS7*@k{&xO-utwe5 x+x#U~FJ}VO92}nW|L-FWa`qO_dH&aN0~c42v+M8Z0@-$} - -\subsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -{\bfseries Timeout} (uint32\+\_\+t inter\+\_\+byte\+\_\+timeout\+\_\+=0, uint32\+\_\+t read\+\_\+timeout\+\_\+constant\+\_\+=0, uint32\+\_\+t read\+\_\+timeout\+\_\+multiplier\+\_\+=0, uint32\+\_\+t write\+\_\+timeout\+\_\+constant\+\_\+=0, uint32\+\_\+t write\+\_\+timeout\+\_\+multiplier\+\_\+=0)\hypertarget{structserial_1_1_timeout_a1a454b17f5d653b8e1b04b3ec2fead59}{}\label{structserial_1_1_timeout_a1a454b17f5d653b8e1b04b3ec2fead59} - -\end{DoxyCompactItemize} -\subsection*{Static Public Member Functions} -\begin{DoxyCompactItemize} -\item -static uint32\+\_\+t {\bfseries max} ()\hypertarget{structserial_1_1_timeout_adc68e33d2f94bfa33ba1062c363b9151}{}\label{structserial_1_1_timeout_adc68e33d2f94bfa33ba1062c363b9151} - -\item -static \hyperlink{structserial_1_1_timeout}{Timeout} \hyperlink{structserial_1_1_timeout_aa4fbd72e16f47c9aea9fb3c32ca17828}{simple\+Timeout} (uint32\+\_\+t timeout) -\end{DoxyCompactItemize} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint32\+\_\+t \hyperlink{structserial_1_1_timeout_ada15f2a0ae478cbb62ef79d1633b2b81}{inter\+\_\+byte\+\_\+timeout} -\item -uint32\+\_\+t \hyperlink{structserial_1_1_timeout_a099244649dec66b6e0548480edeb2b9f}{read\+\_\+timeout\+\_\+constant} -\item -uint32\+\_\+t \hyperlink{structserial_1_1_timeout_a64412753eb2edf1621716dd9f1a4e71e}{read\+\_\+timeout\+\_\+multiplier} -\item -uint32\+\_\+t \hyperlink{structserial_1_1_timeout_accf01b97f83564f4ce3d6e5f63e21006}{write\+\_\+timeout\+\_\+constant} -\item -uint32\+\_\+t \hyperlink{structserial_1_1_timeout_a31ddae32907cff9c3d27fa763981317d}{write\+\_\+timeout\+\_\+multiplier} -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Structure for setting the timeout of the serial port, times are in milliseconds. - -In order to disable the interbyte timeout, set it to Timeout\+::max(). - -\subsection{Member Function Documentation} -\index{serial\+::\+Timeout@{serial\+::\+Timeout}!simple\+Timeout@{simple\+Timeout}} -\index{simple\+Timeout@{simple\+Timeout}!serial\+::\+Timeout@{serial\+::\+Timeout}} -\subsubsection[{\texorpdfstring{simple\+Timeout(uint32\+\_\+t timeout)}{simpleTimeout(uint32_t timeout)}}]{\setlength{\rightskip}{0pt plus 5cm}static {\bf Timeout} serial\+::\+Timeout\+::simple\+Timeout ( -\begin{DoxyParamCaption} -\item[{uint32\+\_\+t}]{timeout} -\end{DoxyParamCaption} -)\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}\hypertarget{structserial_1_1_timeout_aa4fbd72e16f47c9aea9fb3c32ca17828}{}\label{structserial_1_1_timeout_aa4fbd72e16f47c9aea9fb3c32ca17828} -Convenience function to generate \hyperlink{structserial_1_1_timeout}{Timeout} structs using a single absolute timeout. - - -\begin{DoxyParams}{Parameters} -{\em timeout} & A long that defines the time in milliseconds until a timeout occurs after a call to read or write is made.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -\hyperlink{structserial_1_1_timeout}{Timeout} struct that represents this simple timeout provided. -\end{DoxyReturn} - - -\subsection{Member Data Documentation} -\index{serial\+::\+Timeout@{serial\+::\+Timeout}!inter\+\_\+byte\+\_\+timeout@{inter\+\_\+byte\+\_\+timeout}} -\index{inter\+\_\+byte\+\_\+timeout@{inter\+\_\+byte\+\_\+timeout}!serial\+::\+Timeout@{serial\+::\+Timeout}} -\subsubsection[{\texorpdfstring{inter\+\_\+byte\+\_\+timeout}{inter_byte_timeout}}]{\setlength{\rightskip}{0pt plus 5cm}uint32\+\_\+t serial\+::\+Timeout\+::inter\+\_\+byte\+\_\+timeout}\hypertarget{structserial_1_1_timeout_ada15f2a0ae478cbb62ef79d1633b2b81}{}\label{structserial_1_1_timeout_ada15f2a0ae478cbb62ef79d1633b2b81} -Number of milliseconds between bytes received to timeout on. \index{serial\+::\+Timeout@{serial\+::\+Timeout}!read\+\_\+timeout\+\_\+constant@{read\+\_\+timeout\+\_\+constant}} -\index{read\+\_\+timeout\+\_\+constant@{read\+\_\+timeout\+\_\+constant}!serial\+::\+Timeout@{serial\+::\+Timeout}} -\subsubsection[{\texorpdfstring{read\+\_\+timeout\+\_\+constant}{read_timeout_constant}}]{\setlength{\rightskip}{0pt plus 5cm}uint32\+\_\+t serial\+::\+Timeout\+::read\+\_\+timeout\+\_\+constant}\hypertarget{structserial_1_1_timeout_a099244649dec66b6e0548480edeb2b9f}{}\label{structserial_1_1_timeout_a099244649dec66b6e0548480edeb2b9f} -A constant number of milliseconds to wait after calling read. \index{serial\+::\+Timeout@{serial\+::\+Timeout}!read\+\_\+timeout\+\_\+multiplier@{read\+\_\+timeout\+\_\+multiplier}} -\index{read\+\_\+timeout\+\_\+multiplier@{read\+\_\+timeout\+\_\+multiplier}!serial\+::\+Timeout@{serial\+::\+Timeout}} -\subsubsection[{\texorpdfstring{read\+\_\+timeout\+\_\+multiplier}{read_timeout_multiplier}}]{\setlength{\rightskip}{0pt plus 5cm}uint32\+\_\+t serial\+::\+Timeout\+::read\+\_\+timeout\+\_\+multiplier}\hypertarget{structserial_1_1_timeout_a64412753eb2edf1621716dd9f1a4e71e}{}\label{structserial_1_1_timeout_a64412753eb2edf1621716dd9f1a4e71e} -A multiplier against the number of requested bytes to wait after calling read. \index{serial\+::\+Timeout@{serial\+::\+Timeout}!write\+\_\+timeout\+\_\+constant@{write\+\_\+timeout\+\_\+constant}} -\index{write\+\_\+timeout\+\_\+constant@{write\+\_\+timeout\+\_\+constant}!serial\+::\+Timeout@{serial\+::\+Timeout}} -\subsubsection[{\texorpdfstring{write\+\_\+timeout\+\_\+constant}{write_timeout_constant}}]{\setlength{\rightskip}{0pt plus 5cm}uint32\+\_\+t serial\+::\+Timeout\+::write\+\_\+timeout\+\_\+constant}\hypertarget{structserial_1_1_timeout_accf01b97f83564f4ce3d6e5f63e21006}{}\label{structserial_1_1_timeout_accf01b97f83564f4ce3d6e5f63e21006} -A constant number of milliseconds to wait after calling write. \index{serial\+::\+Timeout@{serial\+::\+Timeout}!write\+\_\+timeout\+\_\+multiplier@{write\+\_\+timeout\+\_\+multiplier}} -\index{write\+\_\+timeout\+\_\+multiplier@{write\+\_\+timeout\+\_\+multiplier}!serial\+::\+Timeout@{serial\+::\+Timeout}} -\subsubsection[{\texorpdfstring{write\+\_\+timeout\+\_\+multiplier}{write_timeout_multiplier}}]{\setlength{\rightskip}{0pt plus 5cm}uint32\+\_\+t serial\+::\+Timeout\+::write\+\_\+timeout\+\_\+multiplier}\hypertarget{structserial_1_1_timeout_a31ddae32907cff9c3d27fa763981317d}{}\label{structserial_1_1_timeout_a31ddae32907cff9c3d27fa763981317d} -A multiplier against the number of requested bytes to wait after calling write. - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/include/serial.\+h\end{DoxyCompactItemize} diff --git a/sdk/doc/latex/structserial_1_1termios2.tex b/sdk/doc/latex/structserial_1_1termios2.tex deleted file mode 100644 index cb0c1ef..0000000 --- a/sdk/doc/latex/structserial_1_1termios2.tex +++ /dev/null @@ -1,34 +0,0 @@ -\hypertarget{structserial_1_1termios2}{}\section{serial\+:\+:termios2 Struct Reference} -\label{structserial_1_1termios2}\index{serial\+::termios2@{serial\+::termios2}} -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -tcflag\+\_\+t {\bfseries c\+\_\+iflag}\hypertarget{structserial_1_1termios2_ae6baf1fecdaf609fb72ebe3eb6a9f5df}{}\label{structserial_1_1termios2_ae6baf1fecdaf609fb72ebe3eb6a9f5df} - -\item -tcflag\+\_\+t {\bfseries c\+\_\+oflag}\hypertarget{structserial_1_1termios2_a179cf143410e65d4894b04cbf07b0fae}{}\label{structserial_1_1termios2_a179cf143410e65d4894b04cbf07b0fae} - -\item -tcflag\+\_\+t {\bfseries c\+\_\+cflag}\hypertarget{structserial_1_1termios2_a4e4ef81dbd8e793984861e7c43017501}{}\label{structserial_1_1termios2_a4e4ef81dbd8e793984861e7c43017501} - -\item -tcflag\+\_\+t {\bfseries c\+\_\+lflag}\hypertarget{structserial_1_1termios2_a21f1eeb4a15670a3aa89511d1c0d5e75}{}\label{structserial_1_1termios2_a21f1eeb4a15670a3aa89511d1c0d5e75} - -\item -cc\+\_\+t {\bfseries c\+\_\+line}\hypertarget{structserial_1_1termios2_aceccc8c95db1db715fa5aea6dae924b1}{}\label{structserial_1_1termios2_aceccc8c95db1db715fa5aea6dae924b1} - -\item -cc\+\_\+t {\bfseries c\+\_\+cc} \mbox{[}S\+N\+C\+CS\mbox{]}\hypertarget{structserial_1_1termios2_a672ff09c68b844014e24d9c046fc147c}{}\label{structserial_1_1termios2_a672ff09c68b844014e24d9c046fc147c} - -\item -speed\+\_\+t {\bfseries c\+\_\+ispeed}\hypertarget{structserial_1_1termios2_a87f2c161b7e83496ee16412e3c571b65}{}\label{structserial_1_1termios2_a87f2c161b7e83496ee16412e3c571b65} - -\item -speed\+\_\+t {\bfseries c\+\_\+ospeed}\hypertarget{structserial_1_1termios2_a995642a6dbe875dc7ca8eacd0c515098}{}\label{structserial_1_1termios2_a995642a6dbe875dc7ca8eacd0c515098} - -\end{DoxyCompactItemize} - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -/home/yang/tmp/sdk/src/impl/unix/unix\+\_\+serial.\+cpp\end{DoxyCompactItemize} diff --git a/sdk/include/CYdLidar.h b/sdk/include/CYdLidar.h index 277646c..3d9fe1c 100644 --- a/sdk/include/CYdLidar.h +++ b/sdk/include/CYdLidar.h @@ -1,8 +1,10 @@  #pragma once +#include "line_feature.h" #include "utils.h" #include "ydlidar_driver.h" #include +#include "matrix/math.hpp" #if !defined(__cplusplus) #ifndef __cplusplus @@ -28,7 +30,11 @@ #define M_PI 3.1415926 #endif +#ifndef DEG2RAD #define DEG2RAD(x) ((x)*M_PI/180.) +#endif + +using namespace line_feature; class YDLIDAR_API CYdLidar { @@ -43,6 +49,10 @@ class YDLIDAR_API CYdLidar PropertyBuilderByName(bool,Exposure,private)///< 设置和获取激光时候开启低光功率曝光模式 只有S4雷达支持 PropertyBuilderByName(bool,HeartBeat,private)///< 设置和获取激光是否开启掉电保护, 之后版本号大于等于2.0.9的(G4, F4PRO, G4C)支持 PropertyBuilderByName(bool,Reversion, private)///< 设置和获取是否旋转激光180度 + PropertyBuilderByName(bool,AutoReconnect, private)///< 设置异常是否自动重新连接 + PropertyBuilderByName(bool,EnableDebug, private)///< 设置是否开启调试把解析数据保存到文件 + + PropertyBuilderByName(int,SerialBaudrate,private)///< 设置和获取激光通讯波特率 PropertyBuilderByName(int,SampleRate,private)///< 设置和获取激光采样频率 @@ -58,7 +68,7 @@ class YDLIDAR_API CYdLidar bool initialize(); //!< Attempts to connect and turns the laser on. Raises an exception on error. // Return true if laser data acquistion succeeds, If it's not - bool doProcessSimple(LaserScan &outscan, bool &hardwareError); + bool doProcessSimple(LaserScan &outscan, LaserScan &syncscan, PointCloud &pointcloud, std::vector& lines, bool &hardwareError); //Turn on the motor enable bool turnOn(); //!< See base class docs @@ -77,6 +87,18 @@ class YDLIDAR_API CYdLidar /** Retruns true if the scan frequency is set to user's frequency is successful, If it's not*/ bool checkScanFrequency(); + /** + * @brief setSyncOdometry + * @param odom + */ + void setSyncOdometry(const odom_info& odom); + + /** + * @brief setSensorPose + * @param pose + */ + void setSensorPose(const pose_info& pose); + //Turn off lidar connection void disconnecting(); //!< Closes the comms with the laser. Shouldn't have to be directly needed by the user @@ -104,5 +126,15 @@ class YDLIDAR_API CYdLidar int node_counts ; double each_angle; int show_error; + bool reversion; + + matrix::SquareMatrix sensor_matrix; + matrix::SquareMatrix sensor_matrix_inv; + matrix::SquareMatrix robot_matrix; + matrix::Vector lidar_sensor_vector; + matrix::Vector current_sensor_vector; + + LineFeature line_feature_; + }; // End of class diff --git a/sdk/include/line_feature.h b/sdk/include/line_feature.h new file mode 100644 index 0000000..09d7e7b --- /dev/null +++ b/sdk/include/line_feature.h @@ -0,0 +1,53 @@ +#ifndef _LINE_FEATURE_H_ +#define _LINE_FEATURE_H_ + +#include +#include +#include +#include "utilities.h" + + +namespace line_feature +{ + +class LineFeature +{ + public: + LineFeature(); + // + ~LineFeature(); + void setCachedRangeData(const std::vector& , const std::vector& , const RangeData& ); + void extractLines(std::vector&); + + void set_least_threshold(double); + void set_min_line_length(double); + void set_max_point_distance(double); + void set_min_predict_distance(double); + void set_min_line_points(unsigned int); + void set_seed_line_points(unsigned int); + private: + least leastsquare(int,int,int); + bool detectline(const int,const int); + int findline(const int); + void eraseline(); + bool delete_short_line(const int,const int); + void endpoint_generation(std::vector&); + private: + + CachedData cs_data_; + RangeData range_data_; + Params params_; + std::vector point_num_; + std::vector m_line; + least m_least; + + double mid1; + double mid2; + double mid3; + double mid4; + double mid5; +}; + +}//namespace line_feature +#endif + diff --git a/sdk/include/utilities.h b/sdk/include/utilities.h new file mode 100644 index 0000000..bb0117a --- /dev/null +++ b/sdk/include/utilities.h @@ -0,0 +1,120 @@ +#ifndef LINE_EXTRACTION_UTILITIES_H +#define LINE_EXTRACTION_UTILITIES_H + +#include +#include + +#define distance_point(a1,a2,b1,b2) sqrt((a1-b1)*(a1-b1)+(a2-b2)*(a2-b2)) + + +namespace line_feature +{ + +typedef struct _POINTT +{ + double x; + double y; +}POINTT; + +struct CachedData +{ + std::vector indices; + std::vector bearings; +}; + +struct RangeData +{ + std::vector ranges; + std::vector xs; + std::vector ys; +}; + +struct Params +{ + double bearing_var; + double range_var; + double least_thresh; + double least_sq_angle_thresh; + double least_sq_radius_thresh; + double max_line_gap; + double min_line_length; + double min_range; + double min_split_dist; + double outlier_dist; + double max_point_distance; + double predict_distance; + unsigned int min_line_points; + unsigned int seed_line_points; + +}; + + +struct PointParams +{ + std::vector a; + std::vector ap; + std::vector app; + std::vector b; + std::vector bp; + std::vector bpp; + std::vector c; + std::vector s; +}; + +typedef struct _line +{ + double a; + double b; + double c; + int left; + int right; + POINTT p1; + POINTT p2; + bool inte[2]; +}line; + + +typedef struct _least +{ + double a; + double b; + double c; +}least; + + +typedef struct _point +{ + double role; + double theta; + double m_x; + double m_y; + double distance; + double m_gradient; + bool flag; +}PoinT; + + +typedef struct _generate_line +{ + //first point + double x1; + double y1; + //end point + double x2; + double y2; + + double distance; + double angle; +}gline; + +inline double pi_to_pi(double angle) +{ + angle = fmod(angle, 2 * M_PI); + if (angle >= M_PI) + angle -= 2 * M_PI; + return angle; +} + +} // namespace line_extraction + +#endif diff --git a/sdk/include/ydlidar_driver.h b/sdk/include/ydlidar_driver.h index 1148286..2911ac8 100644 --- a/sdk/include/ydlidar_driver.h +++ b/sdk/include/ydlidar_driver.h @@ -2,6 +2,7 @@ #define YDLIDAR_DRIVER_H #include #include +#include #include "locker.h" #include "serial.h" #include "thread.h" @@ -36,8 +37,11 @@ #define LIDAR_ANS_TYPE_MEASUREMENT 0x81 #define LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) #define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 +#define LIDAR_RESP_MEASUREMENT_SYNC_QUALITY_SHIFT 8 #define LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) #define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 +#define LIDAR_RESP_MEASUREMENT_DISTANCE_SHIFT 2 + #define LIDAR_CMD_RUN_POSITIVE 0x06 #define LIDAR_CMD_RUN_INVERSION 0x07 @@ -73,22 +77,55 @@ typedef enum { CT_RingStart = 1, CT_Tail, }CT; -#define Node_Default_Quality (10<<2) +#define Node_Default_Quality (10) #define Node_Sync 1 #define Node_NotSync 2 #define PackagePaidBytes 10 #define PH 0x55AA + +#define MAX_QUEUE_SIZE 20 + #if defined(_WIN32) #pragma pack(1) #endif + +struct pose_info +{ + uint64_t stamp; //! 时间戳 + double x; + double y; + double phi; +}; + +struct point_info { + double x; + double y; + double z; +}; + +struct odom_info +{ + uint64_t stamp; ///< 时间戳 + double x; ///< x位置 + double y; ///< y位置 + double phi; ///< 角度方向 + double v; ///< 线速度 + double w; ///< 角速度 + double dx; ///< x位置增量 + double dy; ///< y位置增量 + double dth; ///< 方向增量 +}; + struct node_info { - uint8_t sync_quality;//!信号质量 + uint8_t sync_flag; + uint16_t sync_quality;//!信号质量 uint16_t angle_q6_checkbit; //!测距点角度 - uint16_t distance_q2; //! 当前测距点距离 + uint16_t distance_q; //! 当前测距点距离 uint64_t stamp; //! 时间戳 uint8_t scan_frequence;//! 特定版本此值才有效,无效值是0, 当前扫描频率current_frequence = scan_frequence/10.0 + odom_info current_odom; //! 当前里程计同步坐标 } __attribute__((packed)) ; struct PackageNode { @@ -187,7 +224,7 @@ struct LaserConfig { float max_angle; //! Scan resolution [rad]. float ang_increment; - //! Scan resoltuion [s] + //! Scan resoltuion [ns] float time_increment; //! Time between scans float scan_time; @@ -222,6 +259,14 @@ struct LaserScan { LaserConfig config; }; + +struct PointCloud { + //! Array of points + std::vector points; + //! System time when first range was measured in nanoseconds + uint64_t system_time_stamp; +}; + using namespace std; using namespace serial; @@ -288,6 +333,12 @@ namespace ydlidar{ */ const bool isconnected() const; + /** + * @brief setSyncOdometry 同步激光和imu,里程计数据 + * @param odom imu或者里程计数据 + */ + void setSyncOdometry(const odom_info& odom); + /** * @brief 设置雷达是否带信号质量 \n * 连接成功后，必须使用::disconnect函数关闭 @@ -316,6 +367,25 @@ namespace ydlidar{ */ void setHeartBeat(const bool& enable); + /** + * @brief 设置雷达异常自动重新连接 \n + * @param[in] enable 是否开启自动重连: + * true 开启 + * false 关闭 + */ + void setAutoReconnect(const bool& enable); + + /** + * @brief 设置保存解析命令到文件 \n + * @param[in] parse 是否保存解析: + * true 保存 + * false 不保存 + * @filename 保存文件名 + */ + bool setSaveParse(bool parse, const std::string& filename); + + + /** * @brief 获取雷达设备健康状态 \n * @return 返回执行结果 @@ -657,6 +727,19 @@ namespace ydlidar{ */ result_t createThread(); + + /** + * @brief 重新连接开启扫描 \n + * @param[in] force 扫描模式 + * @param[in] timeout 超时时间 + * @return 返回执行结果 + * @retval RESULT_OK 开启成功 + * @retval RESULT_FAILE 开启失败 + * @note sdk 自动重新连接调用 + */ + + result_t startAutoScan(bool force = false, uint32_t timeout = DEFAULT_TIMEOUT) ; + /** * @brief 解包激光数据 \n * @param[in] node 解包后激光点信息 @@ -767,6 +850,9 @@ namespace ydlidar{ std::atomic isConnected; ///< 串口连接状体 std::atomic isScanning; ///< 扫图状态 std::atomic isHeartbeat; ///< 掉电保护状态 + std::atomic isAutoReconnect; ///< 异常自动从新连接 + std::atomic isAutoconnting; ///< 是否正在自动连接中 + std::atomic save_parsing; ///< 是否保存解析命令到文件，调试调用 enum { DEFAULT_TIMEOUT = 2000, /**< 默认超时时间. */ @@ -788,6 +874,8 @@ namespace ydlidar{ size_t scan_node_count; ///< 激光点数 Event _dataEvent; ///< 数据同步事件 Locker _lock; ///< 线程锁 + Locker _serial_lock; ///< 串口锁 + Locker _odom_lock; ///< 里程计同步锁 Thread _thread; ///< 线程id private: @@ -821,6 +909,15 @@ namespace ydlidar{ bool CheckSunResult; uint16_t Valu8Tou16; + std::string serial_port;///< 雷达端口 + + std::list< odom_info> odom_queue; + + odom_info last_odom; //! 当前里程计同步坐标 + odom_info current_odom; + + FILE *fd; + }; } diff --git a/sdk/matrix/.clang-tidy b/sdk/matrix/.clang-tidy new file mode 100755 index 0000000..2878339 --- /dev/null +++ b/sdk/matrix/.clang-tidy @@ -0,0 +1,9 @@ +Checks: 'clang-diagnostic-*,clang-analyzer-*,*, + ,-cppcoreguidelines-pro-type-vararg + ,-cppcoreguidelines-pro-bounds-array-to-pointer-decay + ,-cppcoreguidelines-pro-bounds-constant-array-index + ,-cppcoreguidelines-pro-bounds-pointer-arithmetic + ' +WarningsAsErrors: '*' +HeaderFilterRegex: '*.h, *.hpp, *.hh, *.hxx' + diff --git a/sdk/matrix/.gitignore b/sdk/matrix/.gitignore new file mode 100755 index 0000000..8efccc5 --- /dev/null +++ b/sdk/matrix/.gitignore @@ -0,0 +1,37 @@ +*.orig +*.swp +*~ +astyle/ +build*/ +cmake_install.cmake +CMakeCache.txt +CMakeFiles/ +compile_commands.json +CPackConfig.cmake +CPackSourceConfig.cmake +CTestTestfile.cmake +Makefile +test/attitude +test/cmake_install.cmake +test/CMakeFiles/ +test/coverage.info +test/CTestTestfile.cmake +test/filter +test/hatvee +test/helper +test/integration +test/inverse +test/Makefile +test/matrixAssignment +test/matrixMult +test/matrixScalarMult +test/out/ +test/setIdentity +test/slice +test/squareMatrix +test/transpose +test/vector +test/vector2 +test/vector3 +test/vectorAssignment +Testing/ diff --git a/sdk/matrix/.travis.yml b/sdk/matrix/.travis.yml new file mode 100755 index 0000000..692a570 --- /dev/null +++ b/sdk/matrix/.travis.yml @@ -0,0 +1,40 @@ +language: c + +env: + global: + - export COVERALLS_SERVICE_NAME=travis-ci + - secure: "dA+jGAR9O3f+xsh6h7e7coeM0dU1vHiiM7kIPh5TvbbifDQiF5s2uxFQziZVSnLuohRD9oNODiJFz077n+svp7S9t77sdks0+7r61pkD5LlVItZ6ol5jQCfiksyMw6q5ChEes9KSKEfdFRjuDvQUHwShgpsXVAurizA2Hs3MziWxfIlOPULY4UCCm5+TLoY+vXmfFc4bwk2knxpIP8pYRd+xKYAiN9QC1fJiglipuKHaYbo2+ZYrM92RD0Cl+BZdWyI7vD7zmeXV6mstzAFZ20c63NhNNCYRy0VIC3hLB8zKMuvCZdJnpmSRfFt5uJYJPNcORc1ypeY7/CGMm5Rq1lNwxehFO3/++/aHE8H7GR0cTiKndPO0jDu48j+GUB4k1HHSsVEpj7vO7F3FOO0619xxybDFk1zFjHw8KTbdSXmBERldYAKZOP0JKZxp6CU5DXOO2dunumZAzl6WHJjhRMPFqPheE4e+I2YOEHvXTwDcEO/lMwacr6nuaZZXxEh/TwEdqsIRd9bvsoG1zuVQnZm+atLp3oF4QW8nI5l6qe6R+3l5dEgJGtz5hOsiEpWrwWk6ub2VCdELcgpPZyZcdwu/bKvXx3ndW6LjqzcLxMGxM3rdxx6J+b7Es/vkmT1SXFcxiUjpKkUf04Bb8SmGdbJdAKRZuSRFtjqsU0tHPfo=" + +matrix: + fast_finish: true + include: + - os: linux + dist: trusty + compiler: gcc + env: CMAKE_BUILD_TYPE=Coverage FORMAT=ON + - os: linux + dist: trusty + compiler: clang + env: CMAKE_BUILD_TYPE=Release CC=clang CXX=clang++ FORMAT=OFF + - os: osx + osx_image: xcode8 + env: CMAKE_BUILD_TYPE=Release FORMAT=OFF + +addons: + apt: + packages: + - clang + - cmake + - g++ + - gcc + +install: + - if [ "${CMAKE_BUILD_TYPE}" = "Coverage" ]; then pip install --user cpp-coveralls; fi + +script: + - cmake -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DTESTING=ON -DFORMAT=${FORMAT} . + - make check + +after_success: + - if [ "${CMAKE_BUILD_TYPE}" = "Coverage" ]; then cpp-coveralls -i matrix; fi + diff --git a/sdk/matrix/CMakeLists.txt b/sdk/matrix/CMakeLists.txt new file mode 100755 index 0000000..dbb2a80 --- /dev/null +++ b/sdk/matrix/CMakeLists.txt @@ -0,0 +1,84 @@ +cmake_minimum_required(VERSION 2.8) + +set(VERSION_MAJOR "1") +set(VERSION_MINOR "0") +set(VERSION_PATCH "2") + +project(matrix CXX) + +set(CMAKE_CXX_STANDARD 11) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +if (NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE "MinSizeRel" CACHE STRING "Build type" FORCE) + message(STATUS "set build type to ${CMAKE_BUILD_TYPE}") +endif() + +set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage") + +option(SUPPORT_STDIOSTREAM "If enabled provides support for << operator (as used with std::cout)" OFF) + +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +include_directories(${CMAKE_SOURCE_DIR}) + +if(SUPPORT_STDIOSTREAM) + add_definitions(-DSUPPORT_STDIOSTREAM) +endif() + +set(CMAKE_CXX_FLAGS_COVERAGE + "--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors" + CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE) +set(CMAKE_EXE_LINKER_FLAGS_COVERAGE + "--coverage -ftest-coverage -lgcov" + CACHE STRING "Flags used for linking binaries during coverage builds" FORCE) +mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE) + +add_compile_options( + -pedantic + -Wall + -Warray-bounds + -Wcast-align + -Wcast-qual + -Wconversion + -Wctor-dtor-privacy + -Wdisabled-optimization + -Werror + -Wextra + -Wfloat-equal + -Wformat-security + -Wformat=2 + -Winit-self + -Wlogical-op + -Wmissing-declarations + -Wmissing-include-dirs + -Wno-sign-compare + -Wno-unused + -Wno-unused-parameter + -Wnoexcept + -Wold-style-cast + -Woverloaded-virtual + -Wpointer-arith + -Wredundant-decls + -Wreorder + -Wshadow + -Wsign-conversion + -Wsign-promo + -Wstrict-null-sentinel + -Wswitch-default + -Wundef + -Wuninitialized + -Wunused-variable + ) + +# clang tolerate unknown gcc options +if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") + add_compile_options( + -Wno-error=unused-command-line-argument-hard-error-in-future + -Wno-unknown-warning-option + ) +else() + add_compile_options( + -Wstrict-overflow=5 + ) +endif() diff --git a/sdk/matrix/matrix/Matrix.hpp b/sdk/matrix/matrix/Matrix.hpp new file mode 100755 index 0000000..26fd131 --- /dev/null +++ b/sdk/matrix/matrix/Matrix.hpp @@ -0,0 +1,547 @@ +/** + * @file Matrix.hpp + * + * A simple matrix template library. + * + * @author James Goppert + */ + +#pragma once + +#include +#include + +#if defined(SUPPORT_STDIOSTREAM) +#include +#include +#endif // defined(SUPPORT_STDIOSTREAM) + +#include "math.hpp" + +namespace matrix +{ + +template +class Vector; + +template +class Matrix +{ + +public: + + Type _data[M][N]; + + // Constructors + Matrix() : _data() {} + + Matrix(const Type data_[][N]) : _data() + { + memcpy(_data, data_, sizeof(_data)); + } + + Matrix(const Type *data_) : _data() + { + memcpy(_data, data_, sizeof(_data)); + } + + Matrix(const Matrix &other) : _data() + { + memcpy(_data, other._data, sizeof(_data)); + } + + /** + * Accessors/ Assignment etc. + */ + + Type *data() + { + return _data[0]; + } + + const Type *data() const + { + return _data[0]; + } + + inline Type operator()(size_t i, size_t j) const + { + return _data[i][j]; + } + + inline Type &operator()(size_t i, size_t j) + { + return _data[i][j]; + } + + Matrix & operator=(const Matrix &other) + { + if (this != &other) { + memcpy(_data, other._data, sizeof(_data)); + } + return (*this); + } + + /** + * Matrix Operations + */ + + // this might use a lot of programming memory + // since it instantiates a class for every + // required mult pair, but it provides + // compile time size_t checking + template + Matrix operator*(const Matrix &other) const + { + const Matrix &self = *this; + Matrix res; + res.setZero(); + + for (size_t i = 0; i < M; i++) { + for (size_t k = 0; k < P; k++) { + for (size_t j = 0; j < N; j++) { + res(i, k) += self(i, j) * other(j, k); + } + } + } + + return res; + } + + Matrix emult(const Matrix &other) const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + res(i, j) = self(i, j)*other(i, j); + } + } + + return res; + } + + Matrix edivide(const Matrix &other) const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + res(i, j) = self(i, j)/other(i, j); + } + } + + return res; + } + + Matrix operator+(const Matrix &other) const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + res(i, j) = self(i, j) + other(i, j); + } + } + + return res; + } + + Matrix operator-(const Matrix &other) const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + res(i, j) = self(i, j) - other(i, j); + } + } + + return res; + } + + // unary minus + Matrix operator-() const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + res(i, j) = -self(i, j); + } + } + + return res; + } + + void operator+=(const Matrix &other) + { + Matrix &self = *this; + self = self + other; + } + + void operator-=(const Matrix &other) + { + Matrix &self = *this; + self = self - other; + } + + template + void operator*=(const Matrix &other) + { + Matrix &self = *this; + self = self * other; + } + + /** + * Scalar Operations + */ + + Matrix operator*(Type scalar) const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + res(i, j) = self(i, j) * scalar; + } + } + + return res; + } + + inline Matrix operator/(Type scalar) const + { + return (*this)*(1/scalar); + } + + Matrix operator+(Type scalar) const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + res(i, j) = self(i, j) + scalar; + } + } + + return res; + } + + inline Matrix operator-(Type scalar) const + { + return (*this) + (-1*scalar); + } + + void operator*=(Type scalar) + { + Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + self(i, j) = self(i, j) * scalar; + } + } + } + + void operator/=(Type scalar) + { + Matrix &self = *this; + self = self * (1.0f / scalar); + } + + inline void operator+=(Type scalar) + { + *this = (*this) + scalar; + } + + inline void operator-=(Type scalar) + { + *this = (*this) - scalar; + } + + + /** + * Misc. Functions + */ + + void write_string(char * buf, size_t n) const + { + buf[0] = '\0'; // make an empty string to begin with (we need the '\0' for strlen to work) + const Matrix &self = *this; + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + snprintf(buf + strlen(buf), n - strlen(buf), "\t%8.2g", double(self(i, j))); // directly append to the string buffer + } + snprintf(buf + strlen(buf), n - strlen(buf), "\n"); + } + } + + void print() const + { + static const size_t n = 10*N*M; + char * buf = new char[n]; + write_string(buf, n); + printf("%s\n", buf); + delete[] buf; + } + + Matrix transpose() const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + res(j, i) = self(i, j); + } + } + + return res; + } + + // tranpose alias + inline Matrix T() const + { + return transpose(); + } + + template + Matrix slice(size_t x0, size_t y0) const + { + Matrix res(&(_data[x0][y0])); + return res; + } + + template + void set(const Matrix &m, size_t x0, size_t y0) + { + Matrix &self = *this; + for (size_t i = 0; i < P; i++) { + for (size_t j = 0; j < Q; j++) { + self(i + x0, j + y0) = m(i, j); + } + } + } + + void setRow(size_t i, const Matrix &row) + { + Matrix &self = *this; + for (size_t j = 0; j < N; j++) { + self(i, j) = row(j, 0); + } + } + + void setCol(size_t j, const Matrix &col) + { + Matrix &self = *this; + for (size_t i = 0; i < M; i++) { + self(i, j) = col(i, 0); + } + } + + void setZero() + { + memset(_data, 0, sizeof(_data)); + } + + inline void zero() + { + setZero(); + } + + void setAll(Type val) + { + Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + self(i, j) = val; + } + } + } + + inline void setOne() + { + setAll(1); + } + + void setIdentity() + { + setZero(); + Matrix &self = *this; + + for (size_t i = 0; i < M && i < N; i++) { + self(i, i) = 1; + } + } + + inline void identity() + { + setIdentity(); + } + + inline void swapRows(size_t a, size_t b) + { + if (a == b) { + return; + } + + Matrix &self = *this; + + for (size_t j = 0; j < N; j++) { + Type tmp = self(a, j); + self(a, j) = self(b, j); + self(b, j) = tmp; + } + } + + inline void swapCols(size_t a, size_t b) + { + if (a == b) { + return; + } + + Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + Type tmp = self(i, a); + self(i, a) = self(i, b); + self(i, b) = tmp; + } + } + + Matrix abs() const + { + Matrix r; + for (size_t i=0; i max_val) { + max_val = val; + } + } + } + return max_val; + } + + Type min() const + { + Type min_val = (*this)(0,0); + for (size_t i=0; i +Matrix zeros() { + Matrix m; + m.setZero(); + return m; +} + +template +Matrix ones() { + Matrix m; + m.setOne(); + return m; +} + +template +Matrix operator*(Type scalar, const Matrix &other) +{ + return other * scalar; +} + +template +bool isEqual(const Matrix &x, + const Matrix &y, const Type eps=1e-4f) { + + bool equal = true; + + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < N; j++) { + if (fabs(x(i, j) - y(i, j)) > eps) { + equal = false; + break; + } + } + if (equal == false) break; + } + + + if (!equal) { + static const size_t n = 10*N*M; + char * buf = new char[n]; + x.write_string(buf, n); + printf("not equal\nx:\n%s\n", buf); + y.write_string(buf, n); + printf("y:\n%s\n", buf); + delete[] buf; + } + return equal; +} + + +template +bool isEqualF(Type x, + Type y, Type eps=1e-4f) { + + bool equal = true; + + if (fabs(x - y) > eps) { + equal = false; + } + + if (!equal) { + printf("not equal\nx:\n%g\ny:\n%g\n", double(x), double(y)); + } + return equal; +} + +#if defined(SUPPORT_STDIOSTREAM) +template +std::ostream& operator<<(std::ostream& os, + const matrix::Matrix& matrix) +{ + for (size_t i = 0; i < M; ++i) { + os << "["; + for (size_t j = 0; j < N; ++j) { + os << std::setw(10) << static_cast(matrix(i, j)); + os << "\t"; + } + os << "]" << std::endl; + } + return os; +} +#endif // defined(SUPPORT_STDIOSTREAM) + +} // namespace matrix + +/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */ diff --git a/sdk/matrix/matrix/SquareMatrix.hpp b/sdk/matrix/matrix/SquareMatrix.hpp new file mode 100755 index 0000000..5b2560d --- /dev/null +++ b/sdk/matrix/matrix/SquareMatrix.hpp @@ -0,0 +1,318 @@ +/** + * @file SquareMatrix.hpp + * + * A square matrix + * + * @author James Goppert + */ + +#pragma once + +#include "math.hpp" +#include "helper_functions.hpp" + +namespace matrix +{ + +template +class Matrix; + +template +class Vector; + +template +class SquareMatrix : public Matrix +{ +public: + SquareMatrix() : + Matrix() + { + } + + SquareMatrix(const Type *data_) : + Matrix(data_) + { + } + + SquareMatrix(const Matrix &other) : + Matrix(other) + { + } + + // inverse alias + inline SquareMatrix I() const + { + SquareMatrix i; + if(inv(*this, i)) { + return i; + } else { + i.setZero(); + return i; + } + } + + + // inverse alias + inline bool I(SquareMatrix &i) const + { + return inv(*this, i); + } + + + Vector diag() const + { + Vector res; + const SquareMatrix &self = *this; + + for (size_t i = 0; i < M; i++) { + res(i) = self(i, i); + } + return res; + } + + Type trace() const + { + Type res = 0; + const SquareMatrix &self = *this; + + for (size_t i = 0; i < M; i++) { + res += self(i, i); + } + return res; + } + +}; + +typedef SquareMatrix SquareMatrix3f; + +template +SquareMatrix eye() { + SquareMatrix m; + m.setIdentity(); + return m; +} + +template +SquareMatrix diag(Vector d) { + SquareMatrix m; + for (size_t i=0; i +SquareMatrix expm(const Matrix & A, size_t order=5) +{ + SquareMatrix res; + SquareMatrix A_pow = A; + res.setIdentity(); + size_t i_factorial = 1; + for (size_t i=1; i<=order; i++) { + i_factorial *= i; + res += A_pow / Type(i_factorial); + A_pow *= A_pow; + } + + return res; +} + + +/** + * inverse based on LU factorization with partial pivotting + */ +template +bool inv(const SquareMatrix & A, SquareMatrix & inv) +{ + SquareMatrix L; + L.setIdentity(); + SquareMatrix U = A; + SquareMatrix P; + P.setIdentity(); + + //printf("A:\n"); A.print(); + + // for all diagonal elements + for (size_t n = 0; n < M; n++) { + + // if diagonal is zero, swap with row below + if (fabs(static_cast(U(n, n))) < 1e-8f) { + //printf("trying pivot for row %d\n",n); + for (size_t i = n + 1; i < M; i++) { + + //printf("\ttrying row %d\n",i); + if (fabs(static_cast(U(i, n))) > 1e-8f) { + //printf("swapped %d\n",i); + U.swapRows(i, n); + P.swapRows(i, n); + L.swapRows(i, n); + L.swapCols(i, n); + break; + } + } + } + +#ifdef MATRIX_ASSERT + //printf("A:\n"); A.print(); + //printf("U:\n"); U.print(); + //printf("P:\n"); P.print(); + //fflush(stdout); + //ASSERT(fabs(U(n, n)) > 1e-8f); +#endif + + // failsafe, return zero matrix + if (fabs(static_cast(U(n, n))) < 1e-8f) { + return false; + } + + // for all rows below diagonal + for (size_t i = (n + 1); i < M; i++) { + L(i, n) = U(i, n) / U(n, n); + + // add i-th row and n-th row + // multiplied by: -a(i,n)/a(n,n) + for (size_t k = n; k < M; k++) { + U(i, k) -= L(i, n) * U(n, k); + } + } + } + + //printf("L:\n"); L.print(); + //printf("U:\n"); U.print(); + + // solve LY=P*I for Y by forward subst + //SquareMatrix Y = P; + + // for all columns of Y + for (size_t c = 0; c < M; c++) { + // for all rows of L + for (size_t i = 0; i < M; i++) { + // for all columns of L + for (size_t j = 0; j < i; j++) { + // for all existing y + // subtract the component they + // contribute to the solution + P(i, c) -= L(i, j) * P(j, c); + } + + // divide by the factor + // on current + // term to be solved + // Y(i,c) /= L(i,i); + // but L(i,i) = 1.0 + } + } + + //printf("Y:\n"); Y.print(); + + // solve Ux=y for x by back subst + //SquareMatrix X = Y; + + // for all columns of X + for (size_t c = 0; c < M; c++) { + // for all rows of U + for (size_t k = 0; k < M; k++) { + // have to go in reverse order + size_t i = M - 1 - k; + + // for all columns of U + for (size_t j = i + 1; j < M; j++) { + // for all existing x + // subtract the component they + // contribute to the solution + P(i, c) -= U(i, j) * P(j, c); + } + + // divide by the factor + // on current + // term to be solved + // + // we know that U(i, i) != 0 from above + P(i, c) /= U(i, i); + } + } + + //check sanity of results + for (size_t i = 0; i < M; i++) { + for (size_t j = 0; j < M; j++) { + if (!is_finite(P(i,j))) { + return false; + } + } + } + //printf("X:\n"); X.print(); + inv = P; + return true; +} + +/** + * inverse based on LU factorization with partial pivotting + */ +template +SquareMatrix inv(const SquareMatrix & A) +{ + SquareMatrix i; + if(inv(A, i)) { + return i; + } else { + i.setZero(); + return i; + } +} + +/** + * cholesky decomposition + * + * Note: A must be positive definite + */ +template +SquareMatrix cholesky(const SquareMatrix & A) +{ + SquareMatrix L; + for (size_t j = 0; j < M; j++) { + for (size_t i = j; i < M; i++) { + if (i==j) { + float sum = 0; + for (size_t k = 0; k < j; k++) { + sum += L(j, k)*L(j, k); + } + Type res = A(j, j) - sum; + if (res <= 0) { + L(j, j) = 0; + } else { + L(j, j) = sqrt(res); + } + } else { + float sum = 0; + for (size_t k = 0; k < j; k++) { + sum += L(i, k)*L(j, k); + } + if (L(j, j) <= 0) { + L(i, j) = 0; + } else { + L(i, j) = (A(i, j) - sum)/L(j, j); + } + } + } + } + return L; +} + +/** + * cholesky inverse + * + * TODO: Check if gaussian elimination jumps straight to back-substitution + * for L or we need to do it manually. Will impact speed otherwise. + */ +template +SquareMatrix choleskyInv(const SquareMatrix & A) +{ + SquareMatrix L_inv = inv(cholesky(A)); + return L_inv.T()*L_inv; +} + +typedef SquareMatrix Matrix3f; + +} // namespace matrix + +/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */ diff --git a/sdk/matrix/matrix/Vector.hpp b/sdk/matrix/matrix/Vector.hpp new file mode 100755 index 0000000..b0e01f5 --- /dev/null +++ b/sdk/matrix/matrix/Vector.hpp @@ -0,0 +1,102 @@ +/** + * @file Vector.hpp + * + * Vector class. + * + * @author James Goppert + */ + +#pragma once + +#include "math.hpp" + +namespace matrix +{ + +template +class Matrix; + +template +class Vector : public Matrix +{ +public: + typedef Matrix MatrixM1; + + Vector() : MatrixM1() + { + } + + Vector(const MatrixM1 & other) : + MatrixM1(other) + { + } + + Vector(const Type *data_) : + MatrixM1(data_) + { + } + + inline Type operator()(size_t i) const + { + const MatrixM1 &v = *this; + return v(i, 0); + } + + inline Type &operator()(size_t i) + { + MatrixM1 &v = *this; + return v(i, 0); + } + + Type dot(const MatrixM1 & b) const { + const Vector &a(*this); + Type r = 0; + for (size_t i = 0; i + */ + +#pragma once + +#include "math.hpp" + +namespace matrix +{ + +template +class Vector; + +template +class Vector2 : public Vector +{ +public: + + typedef Matrix Matrix21; + + Vector2() : + Vector() + { + } + + Vector2(const Matrix21 & other) : + Vector(other) + { + } + + Vector2(const Type *data_) : + Vector(data_) + { + } + + Vector2(Type x, Type y) : Vector() + { + Vector2 &v(*this); + v(0) = x; + v(1) = y; + } + + Type cross(const Matrix21 & b) const { + const Vector2 &a(*this); + return a(0)*b(1, 0) - a(1)*b(0, 0); + } + + Type operator%(const Matrix21 & b) const { + return (*this).cross(b); + } + +}; + +typedef Vector2 Vector2f; + +} // namespace matrix + +/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */ diff --git a/sdk/matrix/matrix/Vector3.hpp b/sdk/matrix/matrix/Vector3.hpp new file mode 100755 index 0000000..3dbaa26 --- /dev/null +++ b/sdk/matrix/matrix/Vector3.hpp @@ -0,0 +1,130 @@ +/** + * @file Vector3.hpp + * + * 3D vector class. + * + * @author James Goppert + */ + +#pragma once + +#include "math.hpp" + +namespace matrix +{ + +template +class Matrix; + +template +class Vector; + +template +class Dcm; + +template +class Vector3 : public Vector +{ +public: + + typedef Matrix Matrix31; + + Vector3() : + Vector() + { + } + + Vector3(const Matrix31 & other) : + Vector(other) + { + } + + Vector3(const Type *data_) : + Vector(data_) + { + } + + Vector3(Type x, Type y, Type z) : Vector() + { + Vector3 &v(*this); + v(0) = x; + v(1) = y; + v(2) = z; + } + + Vector3 cross(const Matrix31 & b) const { + const Vector3 &a(*this); + Vector3 c; + c(0) = a(1)*b(2,0) - a(2)*b(1,0); + c(1) = -a(0)*b(2,0) + a(2)*b(0,0); + c(2) = a(0)*b(1,0) - a(1)*b(0,0); + return c; + } + + /** + * Override matrix ops so Vector3 type is returned + */ + + inline Vector3 operator+(Vector3 other) const + { + return Matrix31::operator+(other); + } + + inline Vector3 operator-(Vector3 other) const + { + return Matrix31::operator-(other); + } + + inline Vector3 operator-() const + { + return Matrix31::operator-(); + } + + inline Vector3 operator*(Type scalar) const + { + return Matrix31::operator*(scalar); + } + + inline Type operator*(Vector3 b) const + { + return Vector::operator*(b); + } + + inline Vector3 operator%(const Matrix31 & b) const { + return (*this).cross(b); + } + + /** + * Override vector ops so Vector3 type is returned + */ + inline Vector3 unit() const { + return Vector3(Vector::unit()); + } + + inline Vector3 normalized() const { + return unit(); + } + + + Dcm hat() const { // inverse to Dcm.vee() operation + const Vector3 &v(*this); + Dcm A; + A(0,0) = 0; + A(0,1) = -v(2); + A(0,2) = v(1); + A(1,0) = v(2); + A(1,1) = 0; + A(1,2) = -v(0); + A(2,0) = -v(1); + A(2,1) = v(0); + A(2,2) = 0; + return A; + } + +}; + +typedef Vector3 Vector3f; + +} // namespace matrix + +/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */ diff --git a/sdk/matrix/matrix/helper_functions.hpp b/sdk/matrix/matrix/helper_functions.hpp new file mode 100755 index 0000000..511c35a --- /dev/null +++ b/sdk/matrix/matrix/helper_functions.hpp @@ -0,0 +1,34 @@ +#pragma once + +#include "math.hpp" + +namespace matrix +{ + +template +bool is_finite(Type x) { + return std::isfinite(x); +} + +template +Type wrap_pi(Type x) +{ + if (!is_finite(x)) { + return x; + } + + while (x >= Type(M_PI)) { + x -= Type(2.0 * M_PI); + + } + + while (x < Type(-M_PI)) { + x += Type(2.0 * M_PI); + + } + + return x; +} + + +} diff --git a/sdk/matrix/matrix/math.hpp b/sdk/matrix/matrix/math.hpp new file mode 100755 index 0000000..7e3a5b7 --- /dev/null +++ b/sdk/matrix/matrix/math.hpp @@ -0,0 +1,8 @@ +#pragma once + +#include "stdlib_imports.hpp" +#include "Matrix.hpp" +#include "SquareMatrix.hpp" +#include "Vector.hpp" +#include "Vector2.hpp" +#include "Vector3.hpp" diff --git a/sdk/matrix/matrix/stdlib_imports.hpp b/sdk/matrix/matrix/stdlib_imports.hpp new file mode 100755 index 0000000..088c638 --- /dev/null +++ b/sdk/matrix/matrix/stdlib_imports.hpp @@ -0,0 +1,93 @@ +/** + * @file stdlib_imports.hpp + * + * This file is needed to shadow the C standard library math functions with ones provided by the C++ standard library. + * This way we can guarantee that unwanted functions from the C library will never creep back in unexpectedly. + * + * @author Pavel Kirienko + */ + +#pragma once + +#include +#include +#include + +namespace matrix { + +using std::abs; +using std::div; +using std::fabs; +using std::fmod; +using std::exp; +using std::log; +using std::log10; +using std::pow; +using std::sqrt; +using std::sin; +using std::cos; +using std::tan; +using std::asin; +using std::acos; +using std::atan; +using std::atan2; +using std::sinh; +using std::cosh; +using std::tanh; +using std::ceil; +using std::floor; +using std::frexp; +using std::ldexp; +using std::modf; + +# if (__cplusplus >= 201103L) + +using std::imaxabs; +using std::imaxdiv; +using std::remainder; +using std::remquo; +using std::fma; +using std::fmax; +using std::fmin; +using std::fdim; +using std::nan; +using std::nanf; +using std::nanl; +using std::exp2; +using std::expm1; +using std::log2; +using std::log1p; +using std::cbrt; +using std::hypot; +using std::asinh; +using std::acosh; +using std::atanh; +using std::erf; +using std::erfc; +using std::tgamma; +using std::lgamma; +using std::trunc; +using std::round; +using std::nearbyint; +using std::rint; +using std::scalbn; +using std::ilogb; +using std::logb; +using std::nextafter; +using std::copysign; +using std::fpclassify; +using std::isfinite; +using std::isinf; +using std::isnan; +using std::isnormal; +using std::signbit; +using std::isgreater; +using std::isgreaterequal; +using std::isless; +using std::islessequal; +using std::islessgreater; +using std::isunordered; + +#endif + +} diff --git a/sdk/samples/main.cpp b/sdk/samples/main.cpp index db4e670..93340dc 100644 --- a/sdk/samples/main.cpp +++ b/sdk/samples/main.cpp @@ -1,5 +1,6 @@ #include "CYdLidar.h" +#include "timer.h" #include #include #include @@ -10,13 +11,13 @@ using namespace ydlidar; CYdLidar laser; static bool running = false; -static void Stop(int signo) -{ - +static void Stop(int signo) +{ + printf("Received exit signal\n"); running = true; - -} + +} int main(int argc, char * argv[]) { @@ -24,12 +25,17 @@ int main(int argc, char * argv[]) printf(" YDLIDAR C++ TEST\n"); std::string port; std::string baudrate; + std::string intensity; printf("Please enter the lidar port:"); std::cin>>port; printf("Please enter the lidar baud rate:"); std::cin>>baudrate; + + printf("Please enter the lidar intensity:"); + std::cin>>intensity; + const int baud = atoi(baudrate.c_str()); - const int intensities = 0; + bool intensities = atoi(intensity.c_str()) ==0?false:true; signal(SIGINT, Stop); signal(SIGTERM, Stop); @@ -37,32 +43,61 @@ int main(int argc, char * argv[]) laser.setSerialBaudrate(baud); laser.setIntensities(intensities); laser.setMaxRange(16.0); - laser.setMinRange(0.26); + laser.setMinRange(0.1); laser.setMaxAngle(180); laser.setMinAngle(-180); laser.setHeartBeat(false); laser.setReversion(false); laser.setFixedResolution(false); + laser.setAutoReconnect(true); + laser.setEnableDebug(false); + + //雷达相对机器人安装位置 + pose_info laser_pose; + laser_pose.x = 0; + laser_pose.y = 0; + laser_pose.phi = 0; + laser.setSensorPose(laser_pose); laser.initialize(); while(!running){ bool hardError; - LaserScan scan; + LaserScan scan;//原始激光数据 + LaserScan syncscan;//同步后激光数据 + PointCloud pc;//同步后激光点云数据 + std::vector lines; - if(laser.doProcessSimple(scan, hardError )){ + if(laser.doProcessSimple(scan, syncscan, pc, lines, hardError )){ for(int i =0; i < scan.ranges.size(); i++ ){ float angle = scan.config.min_angle + i*scan.config.ang_increment; float dis = scan.ranges[i]; } - fprintf(stderr,"Scan received: %u ranges\n",(unsigned int)scan.ranges.size()); + fprintf(stdout,"min_angle: %f \n",scan.config.min_angle); + fprintf(stdout,"max_angle: %f \n",scan.config.max_angle); + + fprintf(stdout,"Scan received: %u ranges\n",(unsigned int)scan.ranges.size()); + fprintf(stdout, "fit line size: %u \n", (unsigned int)lines.size()); + for(std::vector::const_iterator it = lines.begin(); it != lines.end(); it++) { + fprintf(stdout, "line length: %f, line angle: %f\n", (*it).distance, (*it).angle); + } + fflush(stdout); } - //usleep(50*1000); - + {//做imu和odometry数据输入 + odom_info odom; + odom.x = 0; + odom.y = 0; + odom.phi = 0; + odom.stamp = getTime(); + laser.setSyncOdometry(odom); + + + } + } laser.turnOff(); laser.disconnecting(); diff --git a/sdk/src/CYdLidar.cpp b/sdk/src/CYdLidar.cpp index 4b1ee7a..124aed6 100644 --- a/sdk/src/CYdLidar.cpp +++ b/sdk/src/CYdLidar.cpp @@ -21,6 +21,8 @@ CYdLidar::CYdLidar() m_Exposure = false; m_HeartBeat = false; m_Reversion = false; + m_AutoReconnect = true; + m_EnableDebug = false; m_MaxAngle = 180.f; m_MinAngle = -180.f; m_MaxRange = 16.0; @@ -28,10 +30,18 @@ CYdLidar::CYdLidar() m_SampleRate = 9; m_ScanFrequency = 7; isScanning = false; + reversion = false; node_counts = 720; each_angle = 0.5; show_error = 0; m_IgnoreArray.clear(); + + sensor_matrix.setIdentity(); + sensor_matrix_inv.setIdentity(); + robot_matrix.setIdentity(); + current_sensor_vector.setOne(); + lidar_sensor_vector.setOne(); + } /*------------------------------------------------------------- @@ -50,10 +60,32 @@ void CYdLidar::disconnecting() } } +void CYdLidar::setSyncOdometry(const odom_info &odom) { + if( YDlidarDriver::singleton() ) { + YDlidarDriver::singleton()->setSyncOdometry(odom); + } +} + +void CYdLidar::setSensorPose(const pose_info &pose) { + sensor_matrix(0, 0) = cos(pose.phi); + sensor_matrix(0, 1) = -sin(pose.phi); + sensor_matrix(0, 2) = pose.x; + + sensor_matrix(1, 0) = sin(pose.phi); + sensor_matrix(1, 1) = cos(pose.phi); + sensor_matrix(1, 2) = pose.y; + + sensor_matrix(2, 0) = 0; + sensor_matrix(2, 1) = 0; + sensor_matrix(2, 2) = 1; + sensor_matrix_inv = matrix::inv(sensor_matrix); + +} + /*------------------------------------------------------------- doProcessSimple -------------------------------------------------------------*/ -bool CYdLidar::doProcessSimple(LaserScan &outscan, bool &hardwareError){ +bool CYdLidar::doProcessSimple(LaserScan &outscan,LaserScan &syncscan, PointCloud &pointcloud, std::vector& lines, bool &hardwareError){ hardwareError = false; // Bound? @@ -73,6 +105,13 @@ bool CYdLidar::doProcessSimple(LaserScan &outscan, bool &hardwareError){ result_t op_result = YDlidarDriver::singleton()->grabScanData(nodes, count); const uint64_t tim_scan_end = getTime(); + std::vector bearings; + std::vector indices; + RangeData rangedata; + int current_index = 0; + lines.clear(); + + // Fill in scan data: if (op_result == RESULT_OK) { @@ -95,9 +134,9 @@ bool CYdLidar::doProcessSimple(LaserScan &outscan, bool &hardwareError){ memset(angle_compensate_nodes, 0, all_nodes_counts*sizeof(node_info)); unsigned int i = 0; for( ; i < count; i++) { - if (nodes[i].distance_q2 != 0) { + if ((nodes[i].distance_q) != 0) { float angle = (float)((nodes[i].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f); - if(m_Reversion){ + if(reversion&&!m_Reversion){ angle=angle+180; if(angle>=360){ angle=angle-360;} nodes[i].angle_q6_checkbit = ((uint16_t)(angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT; @@ -116,6 +155,8 @@ bool CYdLidar::doProcessSimple(LaserScan &outscan, bool &hardwareError){ } LaserScan scan_msg; + PointCloud pc; + pc.system_time_stamp = tim_scan_start; if (m_MaxAngle< m_MinAngle) { float temp = m_MinAngle; @@ -134,10 +175,23 @@ bool CYdLidar::doProcessSimple(LaserScan &outscan, bool &hardwareError){ float intensity = 0.0; int index = 0; + scan_msg.system_time_stamp = tim_scan_start; + scan_msg.self_time_stamp = tim_scan_start; + scan_msg.config.min_angle = DEG2RAD(m_MinAngle); + scan_msg.config.max_angle = DEG2RAD(m_MaxAngle); + scan_msg.config.ang_increment = (scan_msg.config.max_angle - scan_msg.config.min_angle) / (double)counts; + scan_msg.config.time_increment = scan_time / (double)counts; + scan_msg.config.scan_time = scan_time; + scan_msg.config.min_range = m_MinRange; + scan_msg.config.max_range = m_MaxRange; + + LaserScan correction_scan_msg = scan_msg; + + for (size_t i = 0; i < all_nodes_counts; i++) { - range = (float)angle_compensate_nodes[i].distance_q2/4.0f/1000; - intensity = (float)(angle_compensate_nodes[i].sync_quality >> LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT); + range = (float)(angle_compensate_nodes[i].distance_q)/1000.f; + intensity = (float)(angle_compensate_nodes[i].sync_quality); if (i= correction_scan_msg.config.min_range) { + bearings.push_back(angle); + indices.push_back(current_index); + rangedata.ranges.push_back(newrange); + rangedata.xs.push_back(lx); + rangedata.ys.push_back(ly); + current_index++; + } + } + + } + scan_msg.ranges[pos] = range; scan_msg.intensities[pos] = intensity; } } - scan_msg.system_time_stamp = tim_scan_start; - scan_msg.self_time_stamp = tim_scan_start; - scan_msg.config.min_angle = DEG2RAD(m_MinAngle); - scan_msg.config.max_angle = DEG2RAD(m_MaxAngle); - scan_msg.config.ang_increment = (scan_msg.config.max_angle - scan_msg.config.min_angle) / (double)counts; - scan_msg.config.time_increment = scan_time / (double)counts; - scan_msg.config.scan_time = scan_time; - scan_msg.config.min_range = m_MinRange; - scan_msg.config.max_range = m_MaxRange; + + line_feature_.setCachedRangeData(bearings, indices, rangedata); + line_feature_.extractLines(lines); + syncscan = correction_scan_msg; + pointcloud = pc; outscan = scan_msg; delete[] angle_compensate_nodes; return true; - - } } else { @@ -332,6 +427,7 @@ bool CYdLidar::getDeviceInfo(int &type) { } + reversion = true; } break; @@ -380,6 +476,7 @@ bool CYdLidar::getDeviceInfo(int &type) { break; case 9: model = "G4C"; + reversion = true; break; default: model = "Unknown"; @@ -454,6 +551,24 @@ bool CYdLidar::checkScanFrequency() freq = _scan_frequency.frequency/100.0f; } } + if(fabs(m_ScanFrequency - freq) < 1.0) { + hz = (m_ScanFrequency - freq)*10; + if (hz>0) { + while (hz != 0) { + YDlidarDriver::singleton()->setScanFrequencyAddMic(_scan_frequency); + hz--; + } + freq = _scan_frequency.frequency/100.0f; + } else { + while (hz != 0) { + YDlidarDriver::singleton()->setScanFrequencyDisMic(_scan_frequency); + hz++; + } + freq = _scan_frequency.frequency/100.0f; + } + + } + if (m_ScanFrequency < 7 && m_SampleRate>6) { node_counts = 1600; @@ -480,24 +595,30 @@ bool CYdLidar::checkHeartBeat() const { bool ret = false; scan_heart_beat beat; - result_t ans = YDlidarDriver::singleton()->setScanHeartbeat(beat); - if (m_HeartBeat) { - if (beat.enable&& ans == RESULT_OK) { - ans = YDlidarDriver::singleton()->setScanHeartbeat(beat); - } - if (!beat.enable&& ans == RESULT_OK ) { - YDlidarDriver::singleton()->setHeartBeat(true); - ret = true; - } - } else { - if (!beat.enable&& ans == RESULT_OK) { - ans = YDlidarDriver::singleton()->setScanHeartbeat(beat); - } - if (beat.enable && ans==RESULT_OK) { - YDlidarDriver::singleton()->setHeartBeat(false); - ret = true; + if( m_HeartBeat ) { + Sync: + result_t ans = YDlidarDriver::singleton()->setScanHeartbeat(beat); + if( ans == RESULT_OK) { + if( beat.enable ) { + ans = YDlidarDriver::singleton()->setScanHeartbeat(beat); + if( ans == RESULT_OK) { + if(!beat.enable) { + YDlidarDriver::singleton()->setHeartBeat(true); + ret = true; + return ret; + } + } + goto Sync; + } else { + YDlidarDriver::singleton()->setHeartBeat(true); + ret = true; + return ret; + } } - + goto Sync; + }else { + YDlidarDriver::singleton()->setHeartBeat(false); + ret = true; } return ret; @@ -532,6 +653,7 @@ bool CYdLidar::checkCOMMs() } // make connection... + YDlidarDriver::singleton()->setSaveParse(m_EnableDebug, "/tmp/ydldiar_scan.txt"); result_t op_result = YDlidarDriver::singleton()->connect(m_SerialPort.c_str(), m_SerialBaudrate); if (op_result != RESULT_OK) { fprintf(stderr, "[CYdLidar] Error, cannot bind to the specified serial port %s\n", m_SerialPort.c_str() ); @@ -563,7 +685,9 @@ bool CYdLidar::checkStatus() bool ret = getDeviceHealth(); int m_type; + bool check_error = false; if (!ret || !getDeviceInfo(m_type)){ + check_error = true; checkmodel[m_SerialBaudrate] = true; map::iterator it; for (it=checkmodel.begin(); it!=checkmodel.end(); ++it) { @@ -591,7 +715,8 @@ bool CYdLidar::checkStatus() } show_error = 0; - m_Intensities = false; + if(m_type != 4 || check_error) + m_Intensities = false; if (m_type == 4) { if (m_SerialBaudrate == 153600) m_Intensities = true; @@ -621,6 +746,7 @@ bool CYdLidar::checkStatus() isScanning = false; return false; } + YDlidarDriver::singleton()->setAutoReconnect(m_AutoReconnect); printf("[YDLIDAR INFO] Now YDLIDAR is scanning ......\n"); fflush(stdout); fflush(stderr); diff --git a/sdk/src/common.h b/sdk/src/common.h index f44f408..9d8ab1d 100644 --- a/sdk/src/common.h +++ b/sdk/src/common.h @@ -15,4 +15,4 @@ #include "thread.h" #include "timer.h" -#define SDKVerision "1.3.3" +#define SDKVerision "1.3.6" diff --git a/sdk/src/line_feature.cpp b/sdk/src/line_feature.cpp new file mode 100644 index 0000000..301546b --- /dev/null +++ b/sdk/src/line_feature.cpp @@ -0,0 +1,394 @@ +#include "line_feature.h" + +namespace line_feature +{ + +LineFeature::LineFeature() { + set_least_threshold(0.03); + set_min_line_length(0.01); + set_min_predict_distance(0.02); + set_max_point_distance(0.5); + set_seed_line_points(4); + set_min_line_points(6); + +} + + +LineFeature::~LineFeature() { + +} + +//set paramters + +void LineFeature::set_least_threshold(double least_thresh) { + params_.least_thresh = least_thresh; +} + +void LineFeature::set_min_line_length(double min_line_length) { + params_.min_line_length = min_line_length; +} + +void LineFeature::set_max_point_distance(double max_point_dist) { + params_.max_point_distance = max_point_dist; +} + +void LineFeature::set_min_predict_distance(double predict_distance) { + params_.predict_distance = predict_distance; +} + +void LineFeature::set_min_line_points(unsigned int min_line_points) { + params_.min_line_points = min_line_points; +} + +void LineFeature::set_seed_line_points(unsigned int seed_line_points) { + params_.seed_line_points = seed_line_points; +} + + + +void LineFeature::setCachedRangeData(const std::vector& bearings, const std::vector& index, const RangeData& ranges) { + range_data_ = ranges; + cs_data_.indices = index; + cs_data_.bearings = bearings; + +} + +least LineFeature::leastsquare(int start,int end,int fit) { + double w1 = 0,w2 = 0,w3 = 0; + least temp; + double n = end - start + 1; + + if(fit == 1) { + mid1 = 0; + mid2 = 0; + mid3 = 0; + mid4 = 0; + mid5 = 0; + int k = 0; + for(k = start;k <= end;k++) { + mid1+=range_data_.xs[k]; + mid2+=range_data_.ys[k]; + mid3+=range_data_.xs[k]*range_data_.xs[k]; + mid4+=range_data_.ys[k]*range_data_.ys[k]; + mid5+=range_data_.xs[k]*range_data_.ys[k]; + } + } else if(fit == 2) { + mid1+=range_data_.xs[end]; + mid2+=range_data_.ys[end]; + mid3+=range_data_.xs[end]*range_data_.xs[end]; + mid4+=range_data_.ys[end]*range_data_.ys[end]; + mid5+=range_data_.xs[end]*range_data_.ys[end]; + } else { + mid1+=range_data_.xs[start]; + mid2+=range_data_.ys[start]; + mid3+=range_data_.xs[start]*range_data_.xs[start]; + mid4+=range_data_.ys[start]*range_data_.ys[start]; + mid5+=range_data_.xs[start]*range_data_.ys[start]; + + } + w1 = n*mid5-mid1*mid2; + w2 = mid2*mid2-n*mid4-mid1*mid1+n*mid3; + w3 = mid1*mid2-n*mid5; + + if(w1==0) { + temp.a = -1; + temp.b = 0; + temp.c = mid1/n; + } else { + temp.a = (-w2+sqrt(w2*w2-4*w1*w3))/2.0/w1; + temp.b = -1; + temp.c = (mid2-temp.a*mid1)/n; + } + return temp; +} + +bool LineFeature::detectline(const int start,const int num) { + + double error1 = 0; + + double error2 = 0; + + double error3 = 0; + + int k = 0; + + POINTT m_pn; + m_pn.x = 0; + m_pn.y = 0; + + double kp = 0; + double theta = 0; + for(k = start;k < start+num;k++) { + error1 = fabs(((m_least.a)*range_data_.xs[k]+(m_least.b)*range_data_.ys[k]+m_least.c))/sqrt((1+(m_least.a)*(m_least.a))); + + if(error1 > params_.least_thresh) { + return false;; + } + + theta = cs_data_.bearings[k]; + if(fabs((fabs(theta) - M_PI/2))<1e-05) { + m_pn.x = 0; + m_pn.y = m_least.c; + } else { + kp = tan(theta); + m_pn.x = (m_least.c)/(kp - m_least.a); + m_pn.y = kp*m_pn.x; + } + + + if( k-1 >= start) { + error2 = distance_point(range_data_.xs[k],range_data_.ys[k],range_data_.xs[k-1],range_data_.ys[k -1]); + } + + + error3 = distance_point(range_data_.xs[k],range_data_.ys[k],m_pn.x,m_pn.y); + + + if(error3 > params_.predict_distance ||error2 > params_.max_point_distance ) { + return false; + } + } + + return true; +} + + +int LineFeature::findline(const int index) { + line m_temp; + int index1 = 0; + int index2 = 0; + double a = 0; + double b = 0; + double c = 0; + + a = m_least.a; + b = m_least.b; + c = m_least.c; + + index2 = index + params_.seed_line_points; + least m_result; + m_result.a = 0; + m_result.b = 0; + m_result.c = 0; + + while(true) { + if((fabs(a*range_data_.xs[index2]+b*range_data_.ys[index2]+c)/(sqrt(1+a*a)))= 0) { + if((fabs(a*range_data_.xs[index1]+b*range_data_.ys[index1]+c)/(sqrt(1+a*a))) < params_.least_thresh) { + m_least = leastsquare(index1,index2,3); + if( index1 > 0 ) { + index1 = index1 - 1; + a = m_least.a; + b = m_least.b; + c = m_least.c; + continue; + } else { + break; + } + } else { + break; + } + } + + index1 = index1+1; + + m_temp.left = index1; + m_temp.right = index2; + + m_result = leastsquare(index1,index2,1); + m_temp.a = m_result.a; + m_temp.b = m_result.b; + m_temp.c = m_result.c; + + if( (index2 - index1) > params_.min_line_points) { + if (delete_short_line(index1,index2)) { + m_line.push_back(m_temp); + } + return index2; + } else { + return index; + } +} + +void LineFeature::eraseline() { + if(m_line.size() < 2) { + return; + } + + int m = 0; + int n = 0; + int m_iter = 0; + double error1 = 0; + double error2 = 0; + least temp_least; + temp_least.a = 0; + temp_least.b = 0; + temp_least.c = 0; + + double theta_one_ = 0; + double theta_two_ = 0; + double theta_d_ = 0; + std::size_t q = 0,p = 0; + + for(p = 0; p < m_line.size() - 1; p++) { + m = m_line[p].right; + for(q = p+1;q < m_line.size();q++) { + n = m_line[q].left; + if(m >= n) { + theta_one_ = atan(m_line[p].a); + theta_two_ = atan(m_line[q].a); + + theta_d_ = fabs(theta_one_ - theta_two_); + + if(( theta_d_ < 0.1 )||( theta_d_ > (M_PI - 0.1) )) { + int _left = std::min(m_line[p].left,m_line[q].left); + + least m_temp = leastsquare(_left,m_line[q].right,1); + + m_line[p].a = m_temp.a; + m_line[p].b = m_temp.b; + m_line[p].c = m_temp.c; + + m_line[p].left = _left; + m_line[p].right = m_line[q].right; + + m_line.erase(m_line.begin()+q); + + m = m_line[p].right; + q = q - 1; + } + + + } + } + } + + + for(p = 0; p < (m_line.size() - 1); p++) { + q = p+1; + m = m_line[p].right; + n = m_line[q].left; + if( m >= n ) { + for(m_iter = n; m_iter <= m; m_iter++) { + error1 = fabs(((m_line[p].a)*range_data_.xs[m_iter]+(m_line[p].b)*range_data_.ys[m_iter]+m_line[p].c))/sqrt((1+(m_line[p].a)*(m_line[p].a))); + error2 = fabs(((m_line[q].a)*range_data_.xs[m_iter]+(m_line[q].b)*range_data_.ys[m_iter]+m_line[q].c))/sqrt((1+(m_line[q].a)*(m_line[q].a))); + if(error1 > error2) { + break; + } + } + m_line[p].right = m_iter-1; + temp_least = leastsquare(m_line[p].left,m_line[p].right,1); + m_line[p].a = temp_least.a; + m_line[p].b = temp_least.b; + m_line[p].c = temp_least.c; + + m_line[q].left = m_iter; + temp_least = leastsquare(m_line[q].left,m_line[q].right,1); + m_line[q].a = temp_least.a; + m_line[q].b = temp_least.b; + m_line[q].c = temp_least.c; + } + } +} + +bool LineFeature::delete_short_line(const int n1,const int n2) { + + double dis = distance_point(range_data_.xs[n1],range_data_.ys[n1],range_data_.xs[n2],range_data_.ys[n2]); + if( dis < params_.min_line_length) { + return false; + } else { + return true; + } +} + + +void LineFeature::endpoint_generation(std::vector& temp_line) { + gline line_temp; + std::vector output; + POINTT endpoint1; + POINTT endpoint2; + int m = 0,n = 0; + for(size_t i = 0;i < m_line.size();i++) { + m = m_line[i].left; + n = m_line[i].right; + + if(m_line[i].b != 0) { + endpoint1.x = (range_data_.xs[m]/m_line[i].a + range_data_.ys[m] - m_line[i].c)/(m_line[i].a + 1.0/(m_line[i].a)); + endpoint1.y = m_line[i].a*endpoint1.x + m_line[i].c; + } else { + endpoint1.x = range_data_.ys[m]; + endpoint1.y = m_line[i].c/m_line[i].a; + } + + line_temp.x1 = endpoint1.x; + line_temp.y1 = endpoint1.y; + + m_line[i].p1 = endpoint1; + + if(m_line[i].b != 0) { + endpoint2.x = (range_data_.xs[n]/m_line[i].a + range_data_.ys[n] - m_line[i].c)/(m_line[i].a + 1.0/(m_line[i].a)); + endpoint2.y = m_line[i].a*endpoint2.x + m_line[i].c; + } else { + endpoint2.x = range_data_.ys[n]; + endpoint2.y = m_line[i].c/m_line[i].a; + } + + line_temp.x2 = endpoint2.x; + line_temp.y2 = endpoint2.y; + + m_line[i].p2 = endpoint2; + + line_temp.angle = atan2(endpoint2.y - endpoint1.y, endpoint2.x - endpoint1.x); + line_temp.distance = hypot(endpoint2.x - endpoint1.x,endpoint2.y - endpoint1.y); + + + output.push_back(line_temp); + } + temp_line = output; +} + + +void LineFeature::extractLines(std::vector& line) { + int line_include = 0; + m_line.clear(); + point_num_ = cs_data_.indices; + + if(point_num_.size() < params_.min_line_points) { + return; + } + + + for(unsigned int i = 0; i < (point_num_.size() - params_.min_line_points) ;i++) { + m_least = leastsquare(i,i + params_.seed_line_points - 1,1); + if(detectline(i,params_.seed_line_points)) { + line_include = findline(i); + i = line_include; + } + + } + eraseline(); + + for(size_t p = 0; p < m_line.size();p++) { + if(!delete_short_line(m_line[p].left,m_line[p].right)) { + m_line.erase(m_line.begin()+p); + } + } + + endpoint_generation(line); +} + +} diff --git a/sdk/src/lock.c b/sdk/src/lock.c index b049a7f..b61c632 100644 --- a/sdk/src/lock.c +++ b/sdk/src/lock.c @@ -38,14 +38,18 @@ int lfs_lock( const char *filename, int pid ) char *buffer = malloc(size); struct sockaddr_in addr; - if ( !( s = socket( AF_INET, SOCK_STREAM, 0 ) ) > 0 ) + if ( !( s = socket( AF_INET, SOCK_STREAM, 0 ) ) > 0 ) { + free(buffer); return 1; + } addr.sin_family = AF_INET; addr.sin_port = htons( 50001 ); addr.sin_addr.s_addr = inet_addr( "127.0.0.1" ); - if ( !connect( s, ( struct sockaddr * ) &addr, sizeof( addr ) ) == 0 ) + if ( !connect( s, ( struct sockaddr * ) &addr, sizeof( addr ) ) == 0 ) { + free(buffer); return 1; + } ret=recv( s, buffer, size, 0 ); sprintf( buffer, "lock %s %i\n", filename, pid ); /* printf( "%s", buffer ); */ @@ -60,6 +64,7 @@ int lfs_lock( const char *filename, int pid ) close(s); /* printf("%s\n", buffer); */ if( buffer[0] == '2' ) return 0; + free(buffer); return 1; } @@ -79,15 +84,19 @@ int lfs_unlock( const char *filename, int pid ) int size = 1024; char *buffer = malloc(size); struct sockaddr_in addr; - - if ( !( s = socket( AF_INET, SOCK_STREAM, 0 ) ) > 0 ) + + if ( !( s = socket( AF_INET, SOCK_STREAM, 0 ) ) > 0 ) { + free(buffer); return 1; + } addr.sin_family = AF_INET; addr.sin_port = htons( 50001 ); addr.sin_addr.s_addr = inet_addr( "127.0.0.1" ); - if ( !connect( s, ( struct sockaddr * ) &addr, sizeof( addr ) ) == 0 ) + if ( !connect( s, ( struct sockaddr * ) &addr, sizeof( addr ) ) == 0 ) { + free(buffer); return 1; + } sprintf( buffer, "unlock %s %i\n", filename, pid ); /* printf( "%s", buffer ); */ send( s, buffer, strlen(buffer), 0 ); @@ -100,6 +109,7 @@ int lfs_unlock( const char *filename, int pid ) send( s, "quit\n", strlen( "quit\n" ), 0 ); close(s); if( buffer[0] == '2' ) return 0; + free(buffer); return 1; } #endif /* LFS */ @@ -143,6 +153,7 @@ int lib_lock_dev_unlock( const char *filename, int pid ) #ifdef LIBLOCKDEV int lib_lock_dev_lock( const char *filename, int pid ) { + char message[80]; printf("LOCKING %s\n", filename); if ( dev_testlock( filename ) ) { @@ -151,7 +162,7 @@ int lib_lock_dev_lock( const char *filename, int pid ) } if ( dev_lock( filename ) ) { - printf( + sprintf( message, "RXTX fhs_lock() Error: creating lock file for: %s: %s\n", filename, strerror(errno) ); // report_error( message ); @@ -255,7 +266,7 @@ int fhs_lock( const char *filename, int pid ) ----------------------------------------------------------*/ int uucp_lock( const char *filename, int pid ) { - char lockfilename[80], lockinfo[12], message[80]; + char lockfilename[80], lockinfo[12]; char name[80]; int fd; struct stat buf; @@ -287,7 +298,7 @@ int uucp_lock( const char *filename, int pid ) sprintf( lockinfo, "%10d\n", (int) getpid() ); if ( stat( lockfilename, &buf ) == 0 ) { - printf("RXTX uucp_lock() %s is there\n", + printf( "RXTX uucp_lock() %s is there\n", lockfilename ); return 1; } @@ -414,7 +425,7 @@ void uucp_unlock( const char *filename, int openpid ) } else { - printf("uucp_unlock: unlinking failed %s\n", file ); + printf( "uucp_unlock: unlinking failed %s\n", file ); } } @@ -478,8 +489,8 @@ int check_lock_pid( const char *file, int openpid ) I tried and seems to work. Villa Valerio ----------------------------------------------------------*/ -int check_group_uucp() -{ +int check_group_uucp() { + #ifndef USER_LOCK_DIRECTORY FILE *testLockFile ; char testLockFileDirName[] = LOCKDIR; @@ -499,7 +510,7 @@ int check_group_uucp() if ( -1 == mkstemp(testLockAbsFileName) ) { free(testLockAbsFileName); - printf("check_group_uucp(): mkstemp malformed string - \ + printf("check_group_uucp(): mktemp malformed string - \ should not happen"); return 1; @@ -520,14 +531,15 @@ int check_group_uucp() #endif /* USER_LOCK_DIRECTORY */ return 0; +} #ifdef USE_OLD_CHECK_GROUP_UUCP -int check_group_uucp() -{ +int check_group_uucp() { #ifndef USER_LOCK_DIRECTORY int group_count; struct passwd *user = getpwuid( geteuid() ); struct stat buf; + char msg[80]; gid_t list[ NGROUPS_MAX ]; if( stat( LOCKDIR, &buf) ) @@ -556,7 +568,8 @@ int check_group_uucp() } if( buf.st_gid == list[ group_count ] ) return 0; - printf("%i %i\n", buf.st_gid, list[ group_count ] ); + sprintf( msg, "%i %i\n", buf.st_gid, list[ group_count ] ); + printf( msg ); printf( UUCP_ERROR ); return 1; } @@ -581,8 +594,9 @@ int check_group_uucp() */ #endif /* USER_LOCK_DIRECTORY */ return 0; -#endif /* USE_OLD_CHECK_GROUP_UUCP */ } +#endif /* USE_OLD_CHECK_GROUP_UUCP */ + /*---------------------------------------------------------- The following should be able to follow symbolic links. I think the stat @@ -750,7 +764,7 @@ int is_device_locked( const char *port_filename ) file ); if( unlink( file ) != 0 ) { - printf("RXTX Error: Unable to \ + printf( "RXTX Error: Unable to \ remove stale lock file: %s\n", file ); diff --git a/sdk/src/ydlidar_driver.cpp b/sdk/src/ydlidar_driver.cpp index 0c755ee..e160cfd 100644 --- a/sdk/src/ydlidar_driver.cpp +++ b/sdk/src/ydlidar_driver.cpp @@ -22,6 +22,9 @@ namespace ydlidar{ //串口配置参数 m_intensities = false; isHeartbeat = false; + isAutoReconnect = true; + isAutoconnting = false; + _baudrate = 115200; isSupportMotorCtrl=true; _sampling_rate=-1; @@ -41,6 +44,11 @@ namespace ydlidar{ LastSampleAngleCal = 0; CheckSunResult = true; Valu8Tou16 = 0; + + fd = NULL; + + memset(&last_odom, 0, sizeof(last_odom)); + memset(¤t_odom, 0, sizeof(current_odom)); } YDlidarDriver::~YDlidarDriver(){ @@ -48,8 +56,10 @@ namespace ydlidar{ isScanning = false; } + isAutoReconnect = false; _thread.join(); + ScopedLocker l(_serial_lock); if(_serial){ if(_serial->isOpen()){ _serial->close(); @@ -59,10 +69,15 @@ namespace ydlidar{ delete _serial; _serial = NULL; } + + if (NULL != fd) + fclose(fd); } result_t YDlidarDriver::connect(const char * port_path, uint32_t baudrate) { _baudrate = baudrate; + serial_port = string(port_path); + ScopedLocker lk(_serial_lock); if(!_serial){ _serial = new serial::Serial(port_path, _baudrate, serial::Timeout::simpleTimeout(DEFAULT_TIMEOUT)); } @@ -70,10 +85,17 @@ namespace ydlidar{ { ScopedLocker l(_lock); if(!_serial->open()){ + if (NULL != fd&& save_parsing){ + fprintf(fd, "connect %s failed in %d\n", port_path, baudrate); + } return RESULT_FAIL; } } + if (NULL != fd&& save_parsing){ + fprintf(fd, "connect %s success in %d\n", port_path, baudrate); + } + isConnected = true; clearDTR(); @@ -88,6 +110,7 @@ namespace ydlidar{ } if(_serial){ + _serial->flush(); _serial->setDTR(1); } @@ -99,6 +122,7 @@ namespace ydlidar{ } if(_serial){ + _serial->flush(); _serial->setDTR(0); } } @@ -128,11 +152,13 @@ namespace ydlidar{ } void YDlidarDriver::disconnect() { + isAutoReconnect = false; if (!isConnected){ return ; } stop(); + ScopedLocker l(_serial_lock); if(_serial){ if(_serial->isOpen()){ _serial->close(); @@ -158,6 +184,36 @@ namespace ydlidar{ return isConnected; } + void YDlidarDriver::setSyncOdometry(const odom_info &odom) { + ScopedLocker l(_odom_lock); + if( odom_queue.size() > MAX_QUEUE_SIZE) + odom_queue.pop_front(); + odom_queue.push_back(odom); + + } + + bool YDlidarDriver::setSaveParse(bool parse, const std::string& filename) { + bool ret = false; + save_parsing = parse; + if(save_parsing) { + if(fd == NULL){ + fd=fopen("ydlidar_scan.txt","w"); + ret = true; + if (NULL == fd){ + fd =fopen(filename.c_str(), "w"); + ret = false; + } + } + } else { + if(fd != NULL) { + fclose(fd); + } + } + + return ret; + + + } result_t YDlidarDriver::sendCommand(uint8_t cmd, const void * payload, size_t payloadsize) { @@ -203,15 +259,30 @@ namespace ydlidar{ if (data == NULL || size ==0) { return RESULT_FAIL; } + if (NULL != fd&& save_parsing){ + fprintf(fd, "[send]: "); + for( int i =0; i < size; i++ ) + fprintf(fd, "%02x ", *(data +i)); + } size_t r; - while (size) { - r = _serial->write(data, size); - if (r < 1) - return RESULT_FAIL; - size -= r; - data += r; - } - return RESULT_OK; + while (size) { + r = _serial->write(data, size); + if (r < 1){ + if (NULL != fd&& save_parsing){ + fprintf(fd, "[failed]\n"); + + } + return RESULT_FAIL; + + } + size -= r; + data += r; + } + if (NULL != fd&& save_parsing){ + fprintf(fd, "[success]\n"); + } + return RESULT_OK; + } result_t YDlidarDriver::getData(uint8_t * data, size_t size) { @@ -297,21 +368,71 @@ namespace ydlidar{ uint32_t start_ts = getms(); uint32_t end_ts = start_ts; + int timeout_count = 0; while(isScanning) { if ((ans=waitScanData(local_buf, count)) != RESULT_OK) { - if (ans != RESULT_TIMEOUT) { - fprintf(stderr, "exit scanning thread!!\n"); - { - isScanning = false; - } - return RESULT_FAIL; + if (ans != RESULT_TIMEOUT || timeout_count>5) { + if(!isAutoReconnect) {//不重新连接, 退出线程 + fprintf(stderr, "exit scanning thread!!\n"); + { + isScanning = false; + } + if (NULL != fd&& save_parsing){ + fprintf(fd, "exit scanning thread!!\n"); + } + return RESULT_FAIL; + } else {//做异常处理, 重新连接 + isAutoconnting = true; + again: + { + ScopedLocker l(_serial_lock); + if(_serial){ + if(_serial->isOpen()){ + sendCommand(LIDAR_CMD_STOP); + _serial->close(); + + } + delete _serial; + _serial = NULL; + isConnected = false; + } + } + if (NULL != fd&& save_parsing){ + fprintf(fd, "reconnecting lidar!!\n"); + } - } + while(isAutoReconnect&&connect(serial_port.c_str(), _baudrate) != RESULT_OK){ + delay(1000); + } + if(!isAutoReconnect) { + isScanning = false; + return RESULT_FAIL; + } + if(isconnected()) { + ScopedLocker lk(_serial_lock); + if(startAutoScan() == RESULT_OK){ + timeout_count =0; + isAutoconnting = false; + continue; + } + if (NULL != fd&& save_parsing){ + fprintf(fd, "reconnecting lidar success, start scan failed!!\n"); + } + + } + goto again; + + + } + + } else { + timeout_count++; + } } for (size_t pos = 0; pos < count; ++pos) { - if (local_buf[pos].sync_quality & LIDAR_RESP_MEASUREMENT_SYNCBIT) { - if ((local_scan[0].sync_quality & LIDAR_RESP_MEASUREMENT_SYNCBIT)) { + if (local_buf[pos].sync_flag & LIDAR_RESP_MEASUREMENT_SYNCBIT) { + if ((local_scan[0].sync_flag & LIDAR_RESP_MEASUREMENT_SYNCBIT)) { _lock.lock();//timeout lock, wait resource copy memcpy(scan_node_buf, local_scan, scan_count*sizeof(node_info)); scan_node_count = scan_count; @@ -329,9 +450,12 @@ namespace ydlidar{ //heartbeat function if (isHeartbeat) { end_ts = getms(); - if(end_ts - start_ts > DEFAULT_HEART_BEAT){ + if (end_ts - start_ts > DEFAULT_HEART_BEAT) { sendHeartBeat(); start_ts = end_ts; + if (NULL != fd&& save_parsing){ + fprintf(fd, "[send heartbeat]\n"); + } } } } @@ -393,6 +517,9 @@ namespace ydlidar{ }else{ recvPos = 0; + if (NULL != fd&& save_parsing){ + fprintf(fd, "[%02x][error]\n", currentByte); + } continue; } break; @@ -403,8 +530,14 @@ namespace ydlidar{ if(package_type == CT_RingStart){ scan_frequence = (currentByte&0xFE)>>1; (*node).scan_frequence = scan_frequence; + if((*node).scan_frequence != 0 && NULL != fd && save_parsing) { + fprintf(fd, "[[%02x][SCAN FREQUENCE[%f]]]\n", currentByte, scan_frequence/10.f); + } } } else { + if (NULL != fd&& save_parsing){ + fprintf(fd, "[%02x][error]\n", currentByte); + } recvPos = 0; continue; } @@ -418,6 +551,9 @@ namespace ydlidar{ FirstSampleAngle = currentByte; } else { recvPos = 0; + if (NULL != fd&& save_parsing){ + fprintf(fd, "[%02x][error]\n", currentByte); + } continue; } break; @@ -430,6 +566,9 @@ namespace ydlidar{ if (currentByte & LIDAR_RESP_MEASUREMENT_CHECKBIT) { LastSampleAngle = currentByte; } else { + if (NULL != fd&& save_parsing){ + fprintf(fd, "[%02x][error]\n", currentByte); + } recvPos = 0; continue; } @@ -442,11 +581,20 @@ namespace ydlidar{ IntervalSampleAngle = 0; }else{ if(LastSampleAngle < FirstSampleAngle){ - if((FirstSampleAngle > 270*64) && (LastSampleAngle < 90*64)){ + if((FirstSampleAngle >= 180*64) && (LastSampleAngle <= 180*64)){//实际雷达跨度不超过60度 IntervalSampleAngle = (float)((360*64 + LastSampleAngle - FirstSampleAngle)/((package_Sample_Num-1)*1.0)); IntervalSampleAngle_LastPackage = IntervalSampleAngle; - } else{ - IntervalSampleAngle = IntervalSampleAngle_LastPackage; + } else{//这里不应该发生 + if( FirstSampleAngle > 360) {///< 负数 + IntervalSampleAngle = ((float)(LastSampleAngle - ((int16_t)FirstSampleAngle)))/(package_Sample_Num-1); + } else {//起始角大于结束角 + uint16_t temp = FirstSampleAngle; + FirstSampleAngle = LastSampleAngle; + LastSampleAngle = temp; + IntervalSampleAngle = (float)((LastSampleAngle -FirstSampleAngle)/((package_Sample_Num-1)*1.0)); + } + IntervalSampleAngle_LastPackage = IntervalSampleAngle; + //IntervalSampleAngle = IntervalSampleAngle_LastPackage; } } else{ IntervalSampleAngle = (float)((LastSampleAngle -FirstSampleAngle)/((package_Sample_Num-1)*1.0)); @@ -461,6 +609,13 @@ namespace ydlidar{ CheckSun += (currentByte*0x100); break; } + if (NULL != fd&& save_parsing){ + if(recvPos ==3|| recvPos==8 || recvPos ==9){ + fprintf(fd, "[%02x]", currentByte); + }else{ + fprintf(fd, "%02x", currentByte); + } + } packageBuffer[recvPos++] = currentByte; } @@ -509,8 +664,14 @@ namespace ydlidar{ packageBuffer[package_recvPos+recvPos] = recvBuffer[pos]; recvPos++; + + if (NULL != fd&& save_parsing){ + fprintf(fd, "%02x", recvBuffer[pos]); + } } + + if(package_Sample_Num*PackageSampleBytes == recvPos){ package_recvPos += recvPos; break; @@ -529,8 +690,14 @@ namespace ydlidar{ if(CheckSunCal != CheckSun){ CheckSunResult = false; + if (NULL != fd&& save_parsing){ + fprintf(fd, "[%02x][%02x][error]\n", CheckSunCal&0xff, (CheckSunCal>>8)&0xff); + } }else{ CheckSunResult = true; + if (NULL != fd&& save_parsing){ + fprintf(fd, "[%02x][%02x]\n", CheckSunCal&0xff, (CheckSunCal>>8)&0xff); + } } } @@ -542,20 +709,22 @@ namespace ydlidar{ } if(package_CT == CT_Normal){ - (*node).sync_quality = Node_Default_Quality + Node_NotSync; + (*node).sync_flag = Node_NotSync; } else{ - (*node).sync_quality = Node_Default_Quality + Node_Sync; + (*node).sync_flag = Node_Sync; } + (*node).sync_quality = Node_Default_Quality; + if(CheckSunResult == true){ if(m_intensities){ - (*node).sync_quality = package.packageSample[package_Sample_Index].PakageSampleQuality; - (*node).distance_q2 = package.packageSample[package_Sample_Index].PakageSampleDistance; + (*node).sync_quality = (((package.packageSample[package_Sample_Index].PakageSampleDistance&0x03)<> LIDAR_RESP_MEASUREMENT_DISTANCE_SHIFT; }else{ - (*node).distance_q2 = packages.packageSampleDistance[package_Sample_Index]; + (*node).distance_q = packages.packageSampleDistance[package_Sample_Index] >> LIDAR_RESP_MEASUREMENT_DISTANCE_SHIFT; } - if((*node).distance_q2/4 != 0){ - AngleCorrectForDistance = (int32_t)(((atan(((21.8*(155.3 - ((*node).distance_q2/4)) )/155.3)/((*node).distance_q2/4)))*180.0/3.1415) * 64.0); + if(((*node).distance_q) != 0){ + AngleCorrectForDistance = (int32_t)(((atan(((21.8*(155.3 - ((*node).distance_q)) )/155.3)/((*node).distance_q)))*180.0/3.1415) * 64.0); }else{ AngleCorrectForDistance = 0; } @@ -569,9 +738,10 @@ namespace ydlidar{ } } }else{ - (*node).sync_quality = Node_Default_Quality + Node_NotSync; + (*node).sync_flag = Node_NotSync; + (*node).sync_quality = Node_Default_Quality; (*node).angle_q6_checkbit = LIDAR_RESP_MEASUREMENT_CHECKBIT; - (*node).distance_q2 = 0; + (*node).distance_q = 0; } @@ -582,9 +752,12 @@ namespace ydlidar{ nowPackageNum = packages.nowPackageNum; } - if((*node).sync_quality&LIDAR_RESP_MEASUREMENT_SYNCBIT){ + if((*node).sync_flag&LIDAR_RESP_MEASUREMENT_SYNCBIT){ m_ns = ns; m_calc_ns = m_ns - nowPackageNum*trans_delay - (nowPackageNum -1)*m_pointTime; + if (NULL != fd&& save_parsing){ + fprintf(fd, "new scan data: (%d, %d)\n", nowPackageNum, package_Sample_Index); + } } if(package_Sample_Index ==0){ @@ -596,6 +769,32 @@ namespace ydlidar{ (*node).stamp = m_calc_ns; } + { + ScopedLocker l(_odom_lock); + if (!odom_queue.empty()) { + int min = 1000000000; + for (std::list::const_iterator it = odom_queue.begin(); it != odom_queue.end(); ++it) { + int diff = (*node).stamp - (*it).stamp; + if (abs(diff) < min){ + min = diff; + last_odom = *it; + } + } + + } + + } + + if((*node).sync_flag&LIDAR_RESP_MEASUREMENT_SYNCBIT ) { + current_odom = last_odom; + } + (*node).current_odom = last_odom; + (*node).current_odom.dx = last_odom.x - current_odom.x; + (*node).current_odom.dy = last_odom.y - current_odom.y; + (*node).current_odom.dth = last_odom.phi - current_odom.phi; + + + package_Sample_Index++; if(package_Sample_Index >= nowPackageNum){ @@ -661,10 +860,10 @@ namespace ydlidar{ scan_data->clear(); for (int pos = 0; pos < (int)count; ++pos) { scanDot dot; - if (!buffer[pos].distance_q2) continue; - dot.quality = (buffer[pos].sync_quality>>LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT); + if (!(buffer[pos].distance_q)) continue; + dot.quality = (buffer[pos].sync_quality); dot.angle = (buffer[pos].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; - dot.dist = buffer[pos].distance_q2/4.0f; + dot.dist = (buffer[pos].distance_q); scan_data->push_back(dot); } } @@ -675,7 +874,7 @@ namespace ydlidar{ int i = 0; for (i = 0; i < (int)count; i++) { - if(nodebuffer[i].distance_q2 == 0) { + if((nodebuffer[i].distance_q) == 0) { continue; } else { while(i != 0) { @@ -690,11 +889,12 @@ namespace ydlidar{ } if (i == (int)count){ + delete[] tmpbuffer; return RESULT_FAIL; } for (i = (int)count - 1; i >= 0; i--) { - if(nodebuffer[i].distance_q2 == 0) { + if((nodebuffer[i].distance_q) == 0) { continue; } else { while(i != ((int)count - 1)) { @@ -710,7 +910,7 @@ namespace ydlidar{ float frontAngle = (nodebuffer[0].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; for (i = 1; i < (int)count; i++) { - if(nodebuffer[i].distance_q2 == 0) { + if((nodebuffer[i].distance_q) == 0) { float expect_angle = frontAngle + i * inc_origin_angle; if (expect_angle > 360.0f) expect_angle -= 360.0f; uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; @@ -830,6 +1030,9 @@ namespace ydlidar{ }else{ PackageSampleBytes = 2; } + if (NULL != fd&& save_parsing){ + fprintf(fd, "set lidar intensity: %s\n", isintensities?"true":"false"); + } } /************************************************************************/ @@ -847,6 +1050,9 @@ namespace ydlidar{ void YDlidarDriver::setHeartBeat(const bool& enable) { isHeartbeat = enable; + if (NULL != fd&& save_parsing){ + fprintf(fd, "set lidar heartbeat: %s\n", enable?"true":"false"); + } } @@ -862,6 +1068,16 @@ namespace ydlidar{ return ans; } + /** + * @brief 设置雷达异常自动重新连接 \n + * @param[in] enable 是否开启自动重连: + * true 开启 + * false 关闭 + */ + void YDlidarDriver::setAutoReconnect(const bool& enable) { + isAutoReconnect = enable; + } + /************************************************************************/ /* start to scan */ /************************************************************************/ @@ -974,14 +1190,54 @@ namespace ydlidar{ return RESULT_OK; } + /************************************************************************/ + /* startAutoScan */ + /************************************************************************/ + result_t YDlidarDriver::startAutoScan(bool force, uint32_t timeout) { + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + { + ScopedLocker l(_lock); + if ((ans = sendCommand(force?LIDAR_CMD_FORCE_SCAN:LIDAR_CMD_SCAN)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_MEASUREMENT) { + return RESULT_FAIL; + } + + if (response_header.size < 5) { + return RESULT_FAIL; + } + + } + startMotor(); + return RESULT_OK; + } + + /************************************************************************/ /* stop scan */ /************************************************************************/ result_t YDlidarDriver::stop() { + if(isAutoconnting) { + isAutoReconnect = false; + isScanning = false; + disableDataGrabbing(); + return RESULT_OK; + } disableDataGrabbing(); { ScopedLocker l(_lock); sendCommand(LIDAR_CMD_STOP); + sendCommand(LIDAR_CMD_STOP); } stopMotor(); diff --git a/src/ydlidar_client.cpp b/src/ydlidar_client.cpp index be13a2b..b85fafb 100644 --- a/src/ydlidar_client.cpp +++ b/src/ydlidar_client.cpp @@ -9,6 +9,7 @@ #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/laser_scan.hpp" +#include #define RAD2DEG(x) ((x)*180./M_PI) diff --git a/src/ydlidar_node.cpp b/src/ydlidar_node.cpp index 4593b97..f259b3f 100644 --- a/src/ydlidar_node.cpp +++ b/src/ydlidar_node.cpp @@ -24,9 +24,10 @@ #include "rclcpp/time_source.hpp" #include "sensor_msgs/msg/laser_scan.hpp" - -#include "ydlidar_driver.h" -#include "common.h" +#include "visualization_msgs/msg/marker.hpp" +#include "geometry_msgs/msg/point.hpp" +#include "CYdLidar.h" +#include "timer.h" #include #include #include @@ -40,17 +41,12 @@ #include #endif -#define DELAY_SECONDS 2 -#define DEG2RAD(x) ((x)*M_PI/180.) - #if !defined(_MSC_VER) # define _access access #endif -#define ROSVerision "1.3.1" +#define ROS2Verision "1.3.5" -int type = 0; -int print = 0; using namespace ydlidar; @@ -58,75 +54,8 @@ static rclcpp::Logger g_logger = rclcpp::get_logger("ydlidar_node"); static std::string INI_NAME="/ros2/config.ini"; -static bool flag = true; -static int nodes_count = 720; -static float each_angle = 0.5; -void publish_scan(rclcpp::Publisher::SharedPtr pub, node_info *nodes, size_t node_count, rcutils_time_point_value_t start, double scan_time, float angle_min, float angle_max, std::string frame_id, std::vector ignore_array, double min_range , double max_range) -{ - auto msg = std::make_shared(); - - int counts = node_count*((angle_max-angle_min)/360.0f); - int angle_start = 180+angle_min; - int node_start = node_count*(angle_start/360.0f); - - msg->ranges.resize(counts); - msg->intensities.resize(counts); - - float range = 0.0; - float intensity = 0.0; - int index = 0; - for (size_t i = 0; i < node_count; i++) { - range = (float)nodes[i].distance_q2/4.0f/1000; - intensity = (float)(nodes[i].sync_quality >> 2); - - if (i max_range||range < min_range){ - range = 0.0; - } - - int pos = index - node_start ; - if (0<= pos && pos < counts) { - if (ignore_array.size() != 0) { - float angle = angle_min + pos*(angle_max - angle_min)/(double)counts; - for (uint16_t j = 0; j < ignore_array.size();j = j+2) { - if((ignore_array[j] < angle) && (angle <= ignore_array[j+1])){ - range = 0.0; - break; - } - } - } - - - msg->ranges[pos] = range; - msg->intensities[pos] = intensity; - } - - } - - - msg->header.stamp.sec = RCL_NS_TO_S(start); - msg->header.stamp.nanosec = start - RCL_S_TO_NS(msg->header.stamp.sec); - msg->header.frame_id = frame_id; - float radian_min = DEG2RAD(angle_min); - float radian_max = DEG2RAD(angle_max); - msg->angle_min = radian_min; - msg->angle_max = radian_max; - msg->angle_increment = (msg->angle_max - msg->angle_min) / (double)counts; - msg->scan_time = scan_time; - msg->time_increment = scan_time / (double)counts; - msg->range_min = min_range; - msg->range_max = max_range; - - pub->publish(msg); -} - -std::vector split(const std::string &s, char delim) { - std::vector elems; +std::vector split(const std::string &s, char delim) { + std::vector elems; std::stringstream ss(s); std::string number; while (std::getline(ss, number, delim)) { @@ -135,215 +64,7 @@ std::vector split(const std::string &s, char delim) { return elems; } -bool getDeviceInfo(std::string port, int& samp_rate, double _frequency, int baudrate) { - if (!YDlidarDriver::singleton()) { - return false; - } - - device_info devinfo; - if (YDlidarDriver::singleton()->getDeviceInfo(devinfo,300) !=RESULT_OK) { - if(print==3) - fprintf(stderr,"YDLIDAR get DeviceInfo Error\n" ); - return false; - } - sampling_rate _rate; - scan_frequency _scan_frequency; - int _samp_rate=4; - std::string model; - float freq = 7.0f; - int hz = 0; - type = devinfo.model; - switch (devinfo.model) { - case 1: - model="F4"; - _samp_rate=4; - freq = 7.0; - break; - case 4: - model="S4"; - if (baudrate==153600) { - model="S4Pro"; - } - _samp_rate=4; - freq = 7.0; - break; - case 5: - model="G4"; - YDlidarDriver::singleton()->getSamplingRate(_rate); - switch (samp_rate) { - case 4: - _samp_rate=0; - break; - case 8: - _samp_rate=1; - break; - case 9: - _samp_rate=2; - break; - default: - _samp_rate = _rate.rate; - break; - } - while (_samp_rate != _rate.rate) { - YDlidarDriver::singleton()->setSamplingRate(_rate); - } - switch (_rate.rate) { - case 0: - _samp_rate=4; - break; - case 1: - nodes_count = 1440; - each_angle = 0.25; - _samp_rate=8; - break; - case 2: - nodes_count = 1440; - each_angle = 0.25; - _samp_rate=9; - break; - } - - if (YDlidarDriver::singleton()->getScanFrequency(_scan_frequency) != RESULT_OK){ - fprintf(stderr,"YDLIDAR get frequency Error\n" ); - return false; - } - freq = _scan_frequency.frequency/100; - hz = _frequency - freq; - if (hz>0) { - while (hz != 0) { - YDlidarDriver::singleton()->setScanFrequencyAdd(_scan_frequency); - hz--; - } - freq = _scan_frequency.frequency/100.0f; - } else { - while (hz != 0) { - YDlidarDriver::singleton()->setScanFrequencyDis(_scan_frequency); - hz++; - } - freq = _scan_frequency.frequency/100.0f; - } - break; - case 6: - model="X4"; - _samp_rate=5; - freq = 7.0; - break; - case 8: - model="F4Pro"; - YDlidarDriver::singleton()->getSamplingRate(_rate); - switch (samp_rate) { - case 4: - _samp_rate=0; - break; - case 6: - _samp_rate=1; - break; - default: - _samp_rate=_rate.rate; - break; - } - - while (_samp_rate != _rate.rate) { - YDlidarDriver::singleton()->setSamplingRate(_rate); - } - switch (_rate.rate) { - case 0: - _samp_rate=4; - break; - case 1: - nodes_count = 1440; - each_angle = 0.25; - _samp_rate=6; - break; - } - - if (YDlidarDriver::singleton()->getScanFrequency(_scan_frequency) != RESULT_OK) { - fprintf(stderr,"YDLIDAR get frequency Error\n" ); - return false; - } - freq = _scan_frequency.frequency/100; - hz = _frequency - freq; - if (hz>0) { - while (hz != 0) { - YDlidarDriver::singleton()->setScanFrequencyAdd(_scan_frequency); - hz--; - } - freq = _scan_frequency.frequency/100.0f; - } else { - while (hz != 0) { - YDlidarDriver::singleton()->setScanFrequencyDis(_scan_frequency); - hz++; - } - freq = _scan_frequency.frequency/100.0f; - } - break; - case 9: - model ="G4C"; - _samp_rate=4; - freq = 7.0; - break; - default: - model = "Unknown"; - } - - samp_rate = _samp_rate; - uint16_t maxv = (uint16_t)(devinfo.firmware_version>>8); - uint16_t midv = (uint16_t)(devinfo.firmware_version&0xff)/10; - uint16_t minv = (uint16_t)(devinfo.firmware_version&0xff)%10; - - printf("[YDLIDAR INFO] Connection established in %s:\n" - "Firmware version: %u.%u.%u\n" - "Hardware version: %u\n" - "Model: %s\n" - "Serial: ", - port.c_str(), - maxv, - midv, - minv, - (uint16_t)devinfo.hardware_version, - model.c_str()); - - for (int i=0;i<16;i++) { - printf("%01X",devinfo.serialnum[i]&0xff); - } - printf("\n"); - - printf("[YDLIDAR INFO] Current Sampling Rate : %dK\n" , _samp_rate); - printf("[YDLIDAR INFO] Current Scan Frequency : %fHz\n" , freq); - - - return true; - -} - - -bool getDeviceHealth() { - if (!YDlidarDriver::singleton()) { - return false; - } - - result_t op_result; - device_health healthinfo; - - op_result = YDlidarDriver::singleton()->getHealth(healthinfo,300); - if (op_result == RESULT_OK) { - printf("[YDLIDAR INFO] YDLIDAR running correctly! The health status: %s\n", healthinfo.status==0?"well":"bad"); - - if (healthinfo.status == 2) { - if (print ==3) - fprintf(stderr,"YDLIDAR internal error detected. Please reboot the device to retry."); - return false; - } else { - return true; - } - } else { - if (print ==3) - fprintf(stderr,"cannot retrieve YDLIDAR health code: %x", op_result); - return false; - } - -} bool fileExists(const std::string filename) { return 0 == _access(filename.c_str(), 0x00 ); // 0x00 = Check for existence only! @@ -357,21 +78,27 @@ int main(int argc, char * argv[]) { g_logger = node->get_logger(); std::string port = "/dev/ttyUSB0"; + int baudrate = 115200; std::string frame_id = "laser_frame"; - std::string list =""; - int baudrate = 128000; - int samp_rate = 4; bool angle_fixed = true; - bool intensities_ = false; - bool resolution_fixed = true; - bool heartbeat = false; + bool intensities = false; bool low_exposure = false; bool reversion = false; + bool resolution_fixed = true; + bool heartbeat = false; + bool auto_reconnect = true; + bool debug = false; double angle_max = 180; double angle_min = -180; + int samp_rate = 9; + std::string list = ""; double max_range = 16.0; - double min_range = 0.08; + double min_range = 0.06; double frequency = 7.0; + double sensor_x = 0.0; + double sensor_y = 0.0; + double sensor_yaw = 0.0; + #if !defined(_MSC_VER) char *homedir=NULL; @@ -393,21 +120,33 @@ int main(int argc, char * argv[]) { if (fileExists(INI_NAME)) { ini_parser parser_instance(INI_NAME); - const std::string section = "LASER"; + const std::string section = "LASER"; port = parser_instance.get_string("port","/dev/ttyUSB0", section); frame_id = parser_instance.get_string("frame_id","laser_frame", section); list = parser_instance.get_string("ignore_array","", section); baudrate = parser_instance.get_int("baudrate",115200, section); - samp_rate = parser_instance.get_int("samp_rate",4, section); + samp_rate = parser_instance.get_int("samp_rate",4, section); angle_fixed = parser_instance.get_bool("angle_fixed",true, section); - resolution_fixed = parser_instance.get_bool("resolution_fixed", true,section); - heartbeat = parser_instance.get_bool("heartbeat", false,section); - low_exposure = parser_instance.get_bool("low_exposure", false,section); + resolution_fixed = parser_instance.get_bool("resolution_fixed", true,section); + heartbeat = parser_instance.get_bool("heartbeat", false,section); + low_exposure = parser_instance.get_bool("low_exposure", false,section); + + auto_reconnect = parser_instance.get_bool("auto_reconnect", true,section); + reversion = parser_instance.get_bool("reversion", false,section); + debug = parser_instance.get_bool("debug", false,section); + intensities = parser_instance.get_bool("intensities", false,section); + + angle_max = parser_instance.get_double("angle_max",180, section); angle_min = parser_instance.get_double("angle_min",-180, section); max_range = parser_instance.get_double("max_range", 16.0, section); min_range = parser_instance.get_double("min_range",0.08, section); - frequency = parser_instance.get_double("frequency",7.0, section); + frequency = parser_instance.get_double("frequency",7.0, section); + + sensor_x = parser_instance.get_double("sensor_x",7.0, section); + sensor_y = parser_instance.get_double("sensor_y",7.0, section); + sensor_yaw = parser_instance.get_double("sensor_yaw",7.0, section); + RCLCPP_INFO(g_logger, "port:%s", port.c_str()); @@ -434,6 +173,15 @@ int main(int argc, char * argv[]) { node->get_parameter("low_exposure", low_exposure); + node->get_parameter("auto_reconnect", auto_reconnect); + + node->get_parameter("reversion", reversion); + + node->get_parameter("debug", debug); + + node->get_parameter("intensities", intensities); + + node->get_parameter("angle_max", angle_max); node->get_parameter("angle_min", angle_min); @@ -444,9 +192,16 @@ int main(int argc, char * argv[]) { node->get_parameter("frequency", frequency); + node->get_parameter("sensor_x", sensor_x); + + node->get_parameter("sensor_y", sensor_y); + + node->get_parameter("sensor_yaw", sensor_yaw); + - std::vector ignore_array = split(list ,','); + + std::vector ignore_array = split(list ,','); if (ignore_array.size()%2) { RCLCPP_ERROR(g_logger,"ignore array is odd need be even"); } @@ -457,11 +212,7 @@ int main(int argc, char * argv[]) { } } - YDlidarDriver::initDriver(); - if (!YDlidarDriver::singleton()) { - RCLCPP_ERROR(g_logger, "YDLIDAR Create Driver fail, exit\n"); - return -2; - } + CYdLidar laser; if (frequency<5) { frequency = 7.0; @@ -476,16 +227,33 @@ int main(int argc, char * argv[]) { } - //check lidar type - std::map checkmodel; - checkmodel.insert(std::map::value_type(115200, false)); - checkmodel.insert(std::map::value_type(128000, false)); - checkmodel.insert(std::map::value_type(153600, false)); - checkmodel.insert(std::map::value_type(230400, false)); - printf("[YDLIDAR INFO] Current ROS Driver Version: %s\n",((std::string)ROSVerision).c_str()); - printf("[YDLIDAR INFO] Current SDK Version: %s\n",YDlidarDriver::singleton()->getSDKVersion().c_str()); - - + laser.setSerialPort(port); + laser.setSerialBaudrate(baudrate); + laser.setIntensities(intensities); + laser.setMaxRange(max_range); + laser.setMinRange(min_range); + laser.setMaxAngle(angle_max); + laser.setMinAngle(angle_min); + laser.setHeartBeat(heartbeat); + laser.setReversion(reversion); + laser.setFixedResolution(resolution_fixed); + laser.setAutoReconnect(auto_reconnect); + laser.setEnableDebug(debug); + laser.setExposure(low_exposure); + laser.setScanFrequency(frequency); + laser.setSampleRate(samp_rate); + laser.setReversion(reversion); + laser.setIgnoreArray(ignore_array); + + //雷达相对机器人安装位置 + pose_info laser_pose; + laser_pose.x = sensor_x; + laser_pose.y = sensor_y; + laser_pose.phi = sensor_yaw; + laser.setSensorPose(laser_pose); + + printf("[YDLIDAR INFO] Current ROS Driver Version: %s\n",((std::string)ROS2Verision).c_str()); + laser.initialize(); // Set the QoS. ROS 2 will provide QoS profiles based on the following use cases: // Default QoS settings for publishers and subscriptions (rmw_qos_profile_default). @@ -496,242 +264,103 @@ int main(int argc, char * argv[]) { custom_qos_profile.depth = 7; auto laser_pub = node->create_publisher("scan", custom_qos_profile); + auto sync_laser_pub = node->create_publisher("sync_scan", custom_qos_profile); + auto marker_publisher_ = node->create_publisher("publish_line_markers", custom_qos_profile); -again: - result_t op_result = YDlidarDriver::singleton()->connect(port.c_str(), (uint32_t)baudrate); - if (op_result != RESULT_OK) { - int seconds=0; - while (seconds <= DELAY_SECONDS&&flag) { - delay(2000); - seconds = seconds + 2; - YDlidarDriver::singleton()->disconnect(); - op_result = YDlidarDriver::singleton()->connect(port.c_str(), (uint32_t)baudrate); - printf("[YDLIDAR INFO] Try to connect the port %s again after %d s .\n", port.c_str() , seconds); - if(op_result==RESULT_OK){ - break; - } - } - - if (seconds > DELAY_SECONDS) { - RCLCPP_ERROR(g_logger,"YDLIDAR Cannot bind to the specified serial port %s" , port.c_str()); - YDlidarDriver::singleton()->disconnect(); - YDlidarDriver::done(); - return -1; - } - } - - bool ret = getDeviceHealth(); - if(!getDeviceInfo(port,samp_rate,frequency,baudrate)&&!ret){ - checkmodel[baudrate] = true; - map::iterator it; - for(it=checkmodel.begin();it!=checkmodel.end();++it){ - if(it->second) - continue; - print++; - YDlidarDriver::singleton()->disconnect(); - YDlidarDriver::done(); - YDlidarDriver::initDriver(); - if (!YDlidarDriver::singleton()) { - RCLCPP_ERROR(g_logger,"YDLIDAR Create Driver fail, exit"); - return -1; - } - baudrate = it->first; - goto again; - } - RCLCPP_ERROR(g_logger,"[YDLIDAR ERROR] Unsupported lidar\n"); - YDlidarDriver::singleton()->disconnect(); - YDlidarDriver::done(); - return -1; - } - - printf("[YDLIDAR INFO] Connected to YDLIDAR on port %s at %d \n" , port.c_str(), baudrate); - print = 0; - if (type !=4) { - intensities_ = false; - } else { - intensities_ = true; - if (baudrate != 153600) { - intensities_ = false; - } - } - YDlidarDriver::singleton()->setIntensities(intensities_); - - if (intensities_) { - scan_exposure exposure; - int cnt = 0; - while ((YDlidarDriver::singleton()->setLowExposure(exposure) == RESULT_OK) && (cnt<3)) { - if (exposure.exposure != low_exposure) { - RCLCPP_INFO(g_logger,"set EXPOSURE MODEL SUCCESS!!!"); - break; - } - cnt++; - } - if (cnt>=3) { - RCLCPP_ERROR(g_logger,"set LOW EXPOSURE MODEL FALIED!!!"); - } - - } - - if (type == 5 || type == 8 || type == 9) { - scan_heart_beat beat; - if (type != 8) - reversion=true; - result_t ans = YDlidarDriver::singleton()->setScanHeartbeat(beat); - if (heartbeat) { - if (beat.enable&& ans == RESULT_OK) { - ans = YDlidarDriver::singleton()->setScanHeartbeat(beat); - } - if (!beat.enable&& ans == RESULT_OK ) { - YDlidarDriver::singleton()->setHeartBeat(true); - } - } else { - if (!beat.enable&& ans == RESULT_OK) { - ans = YDlidarDriver::singleton()->setScanHeartbeat(beat); - } - if (beat.enable && ans==RESULT_OK) { - YDlidarDriver::singleton()->setHeartBeat(false); - } - - } - - if(_frequency < 7 && samp_rate>6){ - nodes_count = 1600; - }else if( _frequency < 6&&samp_rate == 9){ - nodes_count = 1800; - } - - - } + rclcpp::WallRate loop_rate(30); + while (rclcpp::ok()) { + bool hardError; + LaserScan scan;//原始激光数据 + LaserScan syncscan;//同步后激光数据 + PointCloud pc;//同步后激光点云数据 + std::vector lines; + if(laser.doProcessSimple(scan, syncscan, pc, lines, hardError )){ + + auto scan_msg = std::make_shared(); + auto sync_scan_msg = std::make_shared(); + + scan_msg->header.stamp.sec = RCL_NS_TO_S( scan.system_time_stamp); + scan_msg->header.stamp.nanosec = scan.system_time_stamp - RCL_S_TO_NS(scan_msg->header.stamp.sec); + scan_msg->header.frame_id = frame_id; + scan_msg->angle_min = scan.config.min_angle; + scan_msg->angle_max = scan.config.max_angle; + scan_msg->angle_increment = scan.config.ang_increment; + scan_msg->scan_time = scan.config.scan_time; + scan_msg->time_increment = scan.config.time_increment; + scan_msg->range_min = scan.config.min_range; + scan_msg->range_max = scan.config.max_range; + + scan_msg->ranges = scan.ranges; + scan_msg->intensities = scan.intensities; + laser_pub->publish(scan_msg); + + sync_scan_msg->header = scan_msg->header; + sync_scan_msg->angle_min = syncscan.config.min_angle; + sync_scan_msg->angle_max = syncscan.config.max_angle; + sync_scan_msg->angle_increment = syncscan.config.ang_increment; + sync_scan_msg->scan_time = syncscan.config.scan_time; + sync_scan_msg->time_increment = syncscan.config.time_increment; + sync_scan_msg->range_min = syncscan.config.min_range; + sync_scan_msg->range_max = syncscan.config.max_range; + + sync_scan_msg->ranges = syncscan.ranges; + sync_scan_msg->intensities = syncscan.intensities; + sync_laser_pub->publish(sync_scan_msg); + + auto marker_msg = std::make_shared(); + marker_msg->ns = "laser_fit_lines"; + marker_msg->id = 0; + marker_msg->type = visualization_msgs::msg::Marker::LINE_LIST; + marker_msg->scale.x = 0.03; + marker_msg->color.r = 0.0; + marker_msg->color.g = 1.0; + marker_msg->color.b = 0.0; + marker_msg->color.a = 1.0; + for(std::vector::const_iterator it = lines.begin(); it != lines.end(); it++) { + geometry_msgs::msg::Point p_start; + p_start.x = it->x1; + p_start.y = it->y1; + p_start.z = 0; + marker_msg->points.push_back(p_start); + geometry_msgs::msg::Point p_end; + p_end.x = it->x2; + p_end.y = it->y2; + p_end.z = 0; + marker_msg->points.push_back(p_end); + } + marker_msg->header = scan_msg->header; + marker_publisher_->publish(marker_msg); + - result_t ans=YDlidarDriver::singleton()->startScan(); - if (ans != RESULT_OK) { - ans = YDlidarDriver::singleton()->startScan(); - if (ans != RESULT_OK) { - RCLCPP_ERROR(g_logger,"start YDLIDAR is failed! Exit!! ......"); - YDlidarDriver::singleton()->disconnect(); - YDlidarDriver::done(); - return 0; + } else { + RCLCPP_ERROR(node->get_logger(), "Failed to get scan"); } - } - - printf("[YDLIDAR INFO] Now YDLIDAR is scanning ......\n"); - flag = false; - rclcpp::WallRate loop_rate(30); - rcutils_time_point_value_t start_scan_time,end_scan_time; + {//做imu和odometry数据输入 + odom_info odom; + odom.x = 0; + odom.y = 0; + odom.phi = 0; + odom.stamp = getTime(); + laser.setSyncOdometry(odom); - int max_nodes_count = nodes_count; - each_angle = 360.0/nodes_count; + } - while (rclcpp::ok()) { - try{ - node_info nodes[nodes_count]; - size_t count = _countof(nodes); - - if (rcutils_system_time_now(&start_scan_time) != RCUTILS_RET_OK) { - RCLCPP_ERROR(node->get_logger(), "Failed to get system time"); - } - op_result = YDlidarDriver::singleton()->grabScanData(nodes, count); - if (rcutils_system_time_now(&end_scan_time) != RCUTILS_RET_OK) { - RCLCPP_ERROR(node->get_logger(), "Failed to get system time"); - } - double scan_duration = (end_scan_time - start_scan_time); - - if (op_result == RESULT_OK) { - op_result = YDlidarDriver::singleton()->ascendScanData(nodes, count); - - if (op_result == RESULT_OK) { - if (angle_fixed) { - if (!resolution_fixed) { - max_nodes_count = count; - } else { - max_nodes_count = nodes_count; - } - - - each_angle = 360.0/max_nodes_count; - node_info all_nodes[max_nodes_count]; - memset(all_nodes, 0, max_nodes_count*sizeof(node_info)); - - uint64_t end_time = nodes[0].stamp; - uint64_t start_time = nodes[0].stamp; - for(size_t i = 0; i < count; i++) { - if (nodes[i].distance_q2 != 0) { - float angle = (float)((nodes[i].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f); - if (reversion) { - angle=angle+180; - if(angle>=360){ angle=angle-360;} - nodes[i].angle_q6_checkbit = ((uint16_t)(angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT; - } - - - int inter =(int)( angle / each_angle ); - float angle_pre = angle - inter * each_angle; - float angle_next = (inter+1) * each_angle - angle; - if (angle_pre < angle_next) { - if (inter < nodes_count) { - all_nodes[inter]=nodes[i]; - } - } else { - if(inter < nodes_count-1){ - all_nodes[inter+1]=nodes[i]; - } - } - } - - if (nodes[i].stamp < start_time) { - start_time = nodes[i].stamp; - } - if (nodes[i].stamp > end_time) { - end_time = nodes[i].stamp; - - } - - } - - start_scan_time = start_time; - end_scan_time = end_time; - scan_duration = (end_scan_time - start_scan_time); - - publish_scan(laser_pub, all_nodes, max_nodes_count, start_scan_time, scan_duration, angle_min, angle_max, frame_id, ignore_array, min_range , max_range); - } else { - int start_node = 0, end_node = 0; - int i = 0; - while (nodes[i++].distance_q2 == 0&&i=0); - end_node = i+1; - - angle_min = (float)(nodes[start_node].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; - angle_max = (float)(nodes[end_node].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; - - publish_scan(laser_pub, &nodes[start_node], end_node-start_node +1, start_scan_time, scan_duration, angle_min, angle_max, frame_id, ignore_array, min_range , max_range); - } - } - } - rclcpp::spin_some(node); - loop_rate.sleep(); - } catch (std::exception &e) {// - printf("[YDLIDAR INFO] Now YDLIDAR is stopping .......\n"); - break; - } catch(...) {//anthor exception - RCLCPP_ERROR(g_logger,"Unhandled Exception:Unknown "); - printf("[YDLIDAR INFO] Now YDLIDAR is stopping .......\n"); - break; - } + rclcpp::spin_some(node); + loop_rate.sleep(); } - YDlidarDriver::singleton()->disconnect(); + printf("[YDLIDAR INFO] Now YDLIDAR is stopping .......\n"); - YDlidarDriver::done(); + laser.turnOff(); + laser.disconnecting(); rclcpp::shutdown(); return 0;

    YDLIDAR SDK -  V1.3.3 +  V1.3.6