Visual Servoing Platform version 3.5.0
SickLDMRS-Acq.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Sick LD-MRS laser driver.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
49#include <visp3/core/vpDebug.h>
50#include <visp3/io/vpParseArgv.h>
51#include <visp3/sensor/vpSickLDMRS.h>
52
53#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
54
55int main()
56{
57 try {
58 vpSickLDMRS laser;
59 std::string ip = "131.254.12.119";
60
61 laser.setIpAddress(ip);
62 laser.setup();
63 unsigned long int iter = 0;
64
65 for (;;) {
66 double t1 = vpTime::measureTimeMs();
67 vpLaserScan laserscan[4];
68 if (laser.measure(laserscan) == false)
69 continue;
70
71 iter++;
72 std::cout << "iter: " << iter << " time: " << vpTime::measureTimeMs() - t1 << " ms" << std::endl;
73 }
74 return EXIT_SUCCESS;
75 } catch (const vpException &e) {
76 std::cout << "Catch an exception: " << e << std::endl;
77 return EXIT_FAILURE;
78 }
79}
80
81#else // #ifdef UNIX
82int main()
83{
84 std::cout << "This example is only working on unix-like platforms \n"
85 << "since the Sick LD-MRS driver was not ported to Windows." << std::endl;
86
87 return EXIT_SUCCESS;
88}
89#endif // #ifdef UNIX
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implements a laser scan data structure that contains especially the list of scanned points that have ...
Definition: vpLaserScan.h:65
void setIpAddress(std::string ip_address)
Driver for the Sick LD-MRS laser scanner.
Definition: vpSickLDMRS.h:108
bool setup(const std::string &ip, int port)
bool measure(vpLaserScan laserscan[4])
VISP_EXPORT double measureTimeMs()