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SickLDMRS-Acq.cpp
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/****************************************************************************
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*
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* $Id: SickLDMRS-Acq.cpp 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Sick LD-MRS laser driver.
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*
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* Authors:
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* Fabien Spindler
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*
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*****************************************************************************/
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#include <visp/vpDebug.h>
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#include <visp/vpSickLDMRS.h>
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#include <visp/vpParseArgv.h>
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#if ( defined(UNIX) && ( ! defined(WIN32) ) )
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int
main()
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{
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vpSickLDMRS laser;
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std::string ip =
"131.254.12.119"
;
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laser.setIpAddress(ip);
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laser.setup();
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unsigned
long
int
iter = 0;
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for
( ; ; ) {
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double
t1 =
vpTime::measureTimeMs
();
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vpLaserScan
laserscan[4];
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if
(laser.measure(laserscan) ==
false
)
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continue
;
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iter ++;
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std::cout <<
"iter: "
<< iter <<
" time: "
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<<
vpTime::measureTimeMs
() - t1 <<
" ms"
<< std::endl;
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}
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return
0;
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}
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#else // #ifdef UNIX
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int
main()
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{
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std::cout <<
"This example is only working on UNIX platforms \n"
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<<
"since the Sick LD-MRS driver was not ported to Windows."
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<< std::endl;
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return
0;
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}
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#endif // #ifdef UNIX
example
device
laserscanner
SickLDMRS-Acq.cpp
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