Overview

void laserOFF ()

Disable laser light

void laserON ()

Enable laser light and sampling

void setOpeningAngle (const AL::ALValue& angle_min_f, const AL::ALValue& angle_max_f)

Set openning angle of the laser

angle_min_f

float containing the min value in rad, this value must be upper than -2.35619449

angle_max_f

float containing the max value in rad, this value must be lower than 2.092349795

Example in python :

# Set the opening angle at -90/90 degres
laser = ALProxy("ALLaser","127.0.0.1",9559)
laser.setOpeningAngle(-1.570796327,1.570796327)

void setDetectingLength (const AL::ALValue& length_min_l, const AL::ALValue& length_max_l)

Set detection threshold of the laser

length_min_l

int containing the min length that the laser will detect(mm), this value must be upper than 20 mm

length_max_l

int containing the max length that the laser will detect(mm), this value must be lower than 5600 mm

Example in python :

# Set detection threshold at 500/3000 mm
laser = ALProxy("ALLaser","127.0.0.1",9559)
laser.setDetectingLength(500,3000)

void exit ()

Exits and unregisters the module.

string version ()

Returns the version of the module.

Returns

A string containing the version of the module.

bool ping ()

Just a ping. Always returns true

Returns

returns true

vector<string> getMethodList ()

Retrieves the module's method list.

Returns

An array of method names.

AL::ALValue getMethodHelp (const string& methodName)

Retrieves a method's description.

methodName

The name of the method.

Returns

A structure containing the method's description.

AL::ALValue getModuleHelp ()

Retrieves the module's description.

Returns

A structure describing the module.

string getBrokerName ()

Gets the name of the parent broker.

Returns

The name of the parent broker.

string getUsage (const string& name)

Gets the method usage string. This summarise how to use the method.

name

The name of the method.

Returns

A string that summarises the usage of the method.