67 lines
2.3 KiB
C
67 lines
2.3 KiB
C
/*
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* Copyright 1996-2024 Cyberbotics Ltd.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* https://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/**********************************************************************************/
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/* Description: Webots C programming interface for the Lidar node */
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/**********************************************************************************/
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#ifndef WB_LIDAR_H
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#define WB_LIDAR_H
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#define WB_USING_C_API
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#include "lidar_point.h"
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#include "types.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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void wb_lidar_enable(WbDeviceTag tag, int sampling_period);
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void wb_lidar_enable_point_cloud(WbDeviceTag tag);
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void wb_lidar_disable(WbDeviceTag tag);
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void wb_lidar_disable_point_cloud(WbDeviceTag tag);
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int wb_lidar_get_sampling_period(WbDeviceTag tag);
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bool wb_lidar_is_point_cloud_enabled(WbDeviceTag tag);
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const float *wb_lidar_get_range_image(WbDeviceTag tag);
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const float *wb_lidar_get_layer_range_image(WbDeviceTag tag, int layer);
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const WbLidarPoint *wb_lidar_get_point_cloud(WbDeviceTag tag);
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const WbLidarPoint *wb_lidar_get_layer_point_cloud(WbDeviceTag tag, int layer);
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int wb_lidar_get_number_of_points(WbDeviceTag tag);
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int wb_lidar_get_horizontal_resolution(WbDeviceTag tag);
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int wb_lidar_get_number_of_layers(WbDeviceTag tag);
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double wb_lidar_get_min_frequency(WbDeviceTag tag);
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double wb_lidar_get_max_frequency(WbDeviceTag tag);
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double wb_lidar_get_frequency(WbDeviceTag tag);
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void wb_lidar_set_frequency(WbDeviceTag tag, double frequency);
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double wb_lidar_get_fov(WbDeviceTag tag);
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double wb_lidar_get_vertical_fov(WbDeviceTag tag);
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double wb_lidar_get_min_range(WbDeviceTag tag);
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double wb_lidar_get_max_range(WbDeviceTag tag);
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#ifdef WB_MATLAB_LOADLIBRARY
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// This function should be used only in the Matlab wrapper
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const WbLidarPoint *wb_lidar_get_point(WbDeviceTag tag, int index);
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* WB_LIDAR_H */
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