LibMultiSense
LibMultiSense Documentation
crl::multisense::system::ExternalCalibration Class Reference

A external calibration associated with the MultiSense. More...

#include <MultiSenseTypes.hh>

Public Member Functions

 ExternalCalibration ()
 Default constructor. More...
 

Public Attributes

float x
 The external x translation of the MultiSense in meters. More...
 
float y
 The external y translation of the MultiSense in meters. More...
 
float z
 The external z translation of the MultiSense in meters. More...
 
float roll
 The external roll translation of the MultiSense in degrees. More...
 
float pitch
 The external pitch translation of the MultiSense in degrees. More...
 
float yaw
 The external yaw translation of the MultiSense in degrees. More...
 

Detailed Description

A external calibration associated with the MultiSense.

This is user defined non-volatile storage so the location of the MultiSense can be stored dynamically on the sensor. This can be used to store the mounting location of the sensor relative to a base coordinate frame. This is not used internally by the MultiSense or the ROS driver.

Example code to query a devices's external calibration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
channel = crl::multisense::Channel::Create("10.66.171.21");
channel->setMtu(1500);
//
// Create a instance of ExternalCalibration to store the device's imager
// calibration
//
// Query the imager calibration from the Channel instance
crl::multisense::Status status = channel->getExternalCalibration(externalCalibration));
//
// Check to see if the network configuration query succeeded
throw std::runtime_error("Unable to query device's external calibration");
}
//
// Use the external calibration...
//
// Destroy the channel instance

Example code to set a devices external calibration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
channel = crl::multisense::Channel::Create("10.66.171.21");
channel->setMtu(1500);
//
// Create a instance of ExternalCalibration to store the device's imager
// calibration
//
// Set the external calibration values
externalCalibration.x = 0.1;
externalCalibration.y = 0.2;
externalCalibration.z = 0.3;
externalCalibration.roll = 2.5;
externalCalibration.pitch = 3.67;
externalCalibration.yaw = 1.2;
//
// Send the new external calibration to the device
crl::multisense::Status status = channel->setExternalCalibration(externalCalibration));
//
// Check to see if the new network configuration was received
throw std::runtime_error("Unable to set the devices's imager calibration");
}
//
// Destroy the channel instance

Definition at line 3659 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

◆ ExternalCalibration()

crl::multisense::system::ExternalCalibration::ExternalCalibration ( )
inline

Default constructor.

By default this transform is Identity

Definition at line 3681 of file MultiSenseTypes.hh.

Member Data Documentation

◆ pitch

float crl::multisense::system::ExternalCalibration::pitch

The external pitch translation of the MultiSense in degrees.

Definition at line 3675 of file MultiSenseTypes.hh.

◆ roll

float crl::multisense::system::ExternalCalibration::roll

The external roll translation of the MultiSense in degrees.

Definition at line 3672 of file MultiSenseTypes.hh.

◆ x

float crl::multisense::system::ExternalCalibration::x

The external x translation of the MultiSense in meters.

Definition at line 3663 of file MultiSenseTypes.hh.

◆ y

float crl::multisense::system::ExternalCalibration::y

The external y translation of the MultiSense in meters.

Definition at line 3666 of file MultiSenseTypes.hh.

◆ yaw

float crl::multisense::system::ExternalCalibration::yaw

The external yaw translation of the MultiSense in degrees.

Definition at line 3678 of file MultiSenseTypes.hh.

◆ z

float crl::multisense::system::ExternalCalibration::z

The external z translation of the MultiSense in meters.

Definition at line 3669 of file MultiSenseTypes.hh.


The documentation for this class was generated from the following file:
crl::multisense::Channel
Class which manages all communications with a MultiSense device.
Definition: MultiSenseChannel.hh:69
crl::multisense::system::ExternalCalibration::y
float y
The external y translation of the MultiSense in meters.
Definition: MultiSenseTypes.hh:3666
crl::multisense::Status_Ok
static CRL_CONSTEXPR Status Status_Ok
Definition: MultiSenseTypes.hh:99
crl::multisense::system::ExternalCalibration::pitch
float pitch
The external pitch translation of the MultiSense in degrees.
Definition: MultiSenseTypes.hh:3675
crl::multisense::Channel::setExternalCalibration
virtual Status setExternalCalibration(const system::ExternalCalibration &calibration)=0
Set the external calibration associated with the MultiSense device.
crl::multisense::Channel::getExternalCalibration
virtual Status getExternalCalibration(system::ExternalCalibration &calibration)=0
Get the external calibration associated with the MultiSense device.
crl::multisense::system::ExternalCalibration::x
float x
The external x translation of the MultiSense in meters.
Definition: MultiSenseTypes.hh:3663
crl::multisense::Channel::Destroy
static void Destroy(Channel *instanceP)
Destroy a channel instance that was created using the static member function Channel::Create().
crl::multisense::system::ExternalCalibration
A external calibration associated with the MultiSense.
Definition: MultiSenseTypes.hh:3659
crl::multisense::Status
int32_t Status
General status typdef used as a return value for get/set crl::multisense::Channel methods.
Definition: MultiSenseTypes.hh:94
crl::multisense::Channel::setMtu
virtual Status setMtu(int32_t mtu)=0
Set the current sensor's MTU.
crl::multisense::system::ExternalCalibration::yaw
float yaw
The external yaw translation of the MultiSense in degrees.
Definition: MultiSenseTypes.hh:3678
crl::multisense::system::ExternalCalibration::z
float z
The external z translation of the MultiSense in meters.
Definition: MultiSenseTypes.hh:3669
crl::multisense::system::ExternalCalibration::roll
float roll
The external roll translation of the MultiSense in degrees.
Definition: MultiSenseTypes.hh:3672
crl::multisense::Channel::Create
static Channel * Create(const std::string &sensorAddress)
Create a Channel instance, used to manage all communications with a sensor.