Visual Servoing Platform version 3.6.0
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SickLDMRS-Acq.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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
8 * the Free Software Foundation; either version 2 of the License, or
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 https://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
24 *
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*****************************************************************************/
35
46#include <visp3/core/vpDebug.h>
47#include <visp3/io/vpParseArgv.h>
48#include <visp3/sensor/vpSickLDMRS.h>
49
50#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
51
52int main()
53{
54 try {
55 vpSickLDMRS laser;
56 std::string ip = "131.254.12.119";
57
58 laser.setIpAddress(ip);
59 laser.setup();
60 unsigned long int iter = 0;
61
62 for (;;) {
63 double t1 = vpTime::measureTimeMs();
64 vpLaserScan laserscan[4];
65 if (laser.measure(laserscan) == false)
66 continue;
67
68 iter++;
69 std::cout << "iter: " << iter << " time: " << vpTime::measureTimeMs() - t1 << " ms" << std::endl;
70 }
71 return EXIT_SUCCESS;
72 }
73 catch (const vpException &e) {
74 std::cout << "Catch an exception: " << e << std::endl;
75 return EXIT_FAILURE;
76 }
77}
78
79#else // #ifdef UNIX
80int main()
81{
82 std::cout << "This example is only working on unix-like platforms \n"
83 << "since the Sick LD-MRS driver was not ported to Windows." << std::endl;
84
85 return EXIT_SUCCESS;
86}
87#endif // #ifdef UNIX
error that can be emitted by ViSP classes.
Definition vpException.h:59
Implements a laser scan data structure that contains especially the list of scanned points that have ...
Definition vpLaserScan.h:62
void setIpAddress(std::string ip_address)
Driver for the Sick LD-MRS laser scanner.
bool setup(const std::string &ip, int port)
bool measure(vpLaserScan laserscan[4])
VISP_EXPORT double measureTimeMs()