src/lidars/sick-tim3xx/sick.h

   1 #ifndef SICK_H
   2 #define SICK_H
   3
   4 #include <robottype.h>
   5 #include <robodim.h>
   6
   7 #define SICK_ARRAY_SIZE (271)
   8
   9 #define SICK_RANGE_DIST_MIN_M       0.05
  10 #define SICK331_RANGE_DIST_MAX_M    4
  11 #define SICK551_RANGE_DIST_MAX_M    10
  12
  13 #define SICK_SPLIT_DIVISION     360
  14 #define SICK_START_ANGLE (270.00/2)
  15
  16 // This value are not used for sick-tim3xx
  17 #define SICK_FINAL_MEASUREMENT      0
  18 #define SICK_INITIAL_MEASUREMENT    0
  19
  20 #define SICK_INDEX_TO_DEG(x) ((SICK_START_ANGLE-(x)*360.0/SICK_SPLIT_DIVISION) * SICK_ORIENTATION)
  21 #define SICK_INDEX_TO_RAD(x) (SICK_INDEX_TO_DEG(x)/180.0*M_PI)
  22
  23 #define SICK_DEG_TO_INDEX(d) ((SICK_START_ANGLE-(d)/SICK_ORIENTATION)/(360.0/SICK_SPLIT_DIVISION))
  24
  25 #endif //SICK_H