* @brief shutdown */

/ start to scan */ /

! * \brief Convert radians to degrees */

* @brief convert User sampling rate code to LiDAR sampling code * @param model LiDAR model * @param m_SampleRate User sampling rate code

Returns the last error that occured for the instace of the CSimpleSocket instance. This method should be called immediately to retrieve the error cod

------------------------------------------------------------------------------ Listen() - ----------------------------------------------------------

------------------------------------------------------------------------------ Open() - Create a connection to a specified address on a specified por

------------------------------------------------------------------------------ Select() ------------------------------------------------------------

------------------------------------------------------------------------------ Send() - Send data on a valid socket --------------------------------

------------------------------------------------------------------------------ SetBlocking() -------------------------------------------------------

Sets the timeout value that specifies the maximum amount of time a call to CSimpleSocket::Receive waits until it completes. Use the method CSimpleSock

------------------------------------------------------------------------------ SetNonblocking() ----------------------------------------------------

------------------------------------------------------------------------------ SetSendTimeout() ----------------------------------------------------

Set object socket handle to that specified as parameter @param socket value of socket descriptor

set socket descriptor

------------------------------------------------------------------------------ TranslateSocketError() - --------------------------------------------

---------------------------------------------------------- check_group_uucp accept: none perform: check if the user is root or in group

/ get health state of lidar */ /

/ get the sampling rate of lidar */ /

! * @brief Whether to support intensity. * @param model lidar model * @return true if supported, otherwise false. */

! * @brief Supports multiple sampling rate * @param model lidar model * @return true if THere are multiple sampling rate, otherwise false. *

! * @brief Whether to support adjusting the scanning frequency . * @param model lidar model * @return true if supported, otherwise false. */

! * @brief Is there a zero offset angle * @param model lidar model * @return true if there are zero offset angle, otherwise false. */

常规

* @brief Whether it is a SCL type LiDAR * @param type LiDAR type * @return true if it is a Triangle SCL type, otherwise false. */

根据雷达码判断是否是SCL雷达

! * @brief Whether to support Heartbeat. * @param model lidar model * @return true if support heartbeat, otherwise false. */

! * @brief Does SDK support the LiDAR model. * @param model lidar model * @return true if supported, otherwise false. */

! * @brief Whether the scanning frequency is supported * @param model lidar model * @param frequency scanning frequency * @return true if

根据雷达码判断是否是TEA雷达

* @brief Whether the sampling rate is valid * @param smap sampling rate map * @return true if it is valid, otherwise false. */

---------------------------------------------------------- is_device_locked accept: char * filename. The device in question including the pa

! * \brief normalize_angle_positive * * Normalizes the angle to be 0 to 2*M_PI * It takes and returns radians. */

! * \brief normalize_angle_positive_from_degree * * Normalizes the angle to be 0 to 360 * It takes and returns degree. */

* @brief ok * @return */

#include <iostream> #include <iomanip> * @brief convert LaserDebug information to device_info * @param info LiDAR LaserDebug information * @p

* @brief 设置雷达异常自动重新连接 \n * @param[in] enable 是否开启自动重连: * true 开启 * false 关闭 */

* @brief setDriverError * @param er */

/ the set to signal quality */ /

/ the set to sampling rate */ /

设置扫描频率(无)

/ add the scan frequency by 1Hz each time */ /

/ add the scan frequency by 0.1Hz each time */ /

/ decrease the scan frequency by 1Hz each time */ /

/ decrease the scan frequency by 0.1Hz each time */ /

/ the set to heart beat */ /

* @brief split string to vector by delim format * @param s string * @param delim split format * @return split vector */