RangerArray
[Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX, Windows]

A hardware abstraction component for multi-origin arrays of range-finders. More...

A hardware abstraction component for multi-origin arrays of range-finders.

Provides

• orca_interface_home
• orca_interface_rangerarray [RangerArray.Provides.RangerArray]
• orca_interface_status

Requires

• none

Drivers

This component dynamically loads an implementation of a Hydro hardware interface hydrointerfaces::RangerArray. You can also load your own implementation as long as the shared library is in the path. See Hydro documentation for the list of available drivers.

• RangerArray drivers

Operation

This component encapsulates a multi-origin array of range-finding sensors. It can run either as a stand-alone component or an IceBox Service.

Configuration

• RangerArray.Config.MinRange (double) [m]
  • Valid Values: MinRange>=0.0
  • Default: 0.0
• RangerArray.Config.MaxRange (double) [m]
  • Valid Values: MaxRange>0.0
  • Default: 5.0
• RangerArray.Config.NumberOfSamples (int)
  • Number of range samples in a single scan.
  • Valid Values: NumberOfSamples>0
  • Default: 5

See also:

Individual drivers may have additional configuration parameters which are specified as RangerArray.Config.XXX. See driver documentation.

An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory.

Internal Structure

Notes

Only the fake driver will build for Windows.

Authors

Alex Brooks, Tobias Kaupp and Alex Makarenko, Mikel Astiz