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Laser Module


Functions

void sfStartLaser (char *port)
 Connects the laser (NULL or "" port means simulator).

void sfStartLaserTcp (char *host, int port)
 Connects the laser on a tcp port (NOT for the simulator).

void sfStopLaser ()
 Disconnects the laser.


Detailed Description

The laser module is seperate from the normal Saphira distribution. It comes with either a Laser or a Laser Integration kit from ActivMedia Robotics. For information contact sales@activmedia.com.

If you have purchased either of these you should be able to download new versions of this module from http://robots.activmedia.com/sicklrf

Do make sure your Saphira/versionLaser file is the same version as your Saphira/version.txt file. There is dependency checking in Linux already, but not yet in the Windows installer. Its critical you're using the same versions for Saphira and its modules.

This module allows Saphira to use the ArSick (SICK Laser) class in ARIA, for both display and the gradient module. The normal localization does not use the laser as its an entirely different process, check out the laser localization/navigation module. The display of the laser is in green dots scattered on the screen where the laser readings are. Note that by default Saphira readings close to each other are filtered out.

Even if you do not have this module you can use the ArSick class in Saphira just like you use any of the other ARIA code (ie just compile it).


Generated on Tue Nov 12 17:49:38 2002 for Saphira by doxygen1.2.13.1 written by Dimitri van Heesch, © 1997-2001