本页介绍了get_laser_scan的用法, 包含当前的雷达数据。 |
本页内容
Sample Code:
使用更高版本的Visual Studio可能会带来编译异常。 使用Visual Studio 2010(无SP1)可能会因为无法与.Net Framework兼容而报编译错误,此时增加SP1更新包即可解决问题 |
(以下任选其一)
右键get_laser_scan, 打开属性选项,将Slamware SDK 的include目录和lib目录添加到工程
Slamware SDK的include和lib目录无需复制到参考例程目录,只需在Visual Studio里指定路径即可。 |
获取当前雷达获取到的数据
SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445); std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl; std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl; rpos::features::system_resource::LaserScan laser_scan = sdp.getLaserScan(); std::vector<rpos::core::LaserPoint> laser_points =laser_scan.getLaserPoints(); for (std::vector<rpos::core::LaserPoint>::iterator it = laser_points.begin(); it!= laser_points.end(); ++it) std::cout << "Angle: " << it->angle() << "; Distance: " << it->distance() << "; is Valid: " << it->valid() << std::endl; |