QUYVN/DriverLIdar
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update brand ESPE

Browse Source
This commit is contained in:
QUYVN
2026-07-07 10:38:42 +07:00
parent 1c347a4918
commit 917b4fe4c5
15 changed files with 741 additions and 263 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
include/lidarlib/sick_lidar.hpp
View File

@@ -20,9 +20,11 @@ class SickDriver : public Lidar {
public:
using ScanCallback = lidarlib::ScanCallback;
// inverted: unit mounted upside-down → mirror the scan.
explicit SickDriver(const ModelConfig& cfg,
const std::string& ip,
uint16_t port = 2111);
uint16_t port = 2111,
bool inverted = false);
~SickDriver();
SickDriver(const SickDriver&) = delete;
@@ -50,6 +52,7 @@ private:
std::string detected_model_name_; // owned copy of cfg_.name (stable lifetime)
std::string ip_;
uint16_t port_;
bool inverted_ = false;
int sock_fd_ = -1;
ScanCallback cb_;
@@ -70,10 +73,12 @@ class NanoScanDriver : public Lidar {
public:
using ScanCallback = lidarlib::ScanCallback;
// ip: local bind address; port: local UDP port the sensor sends to.
// ip: local bind address; port: local UDP port the sensor sends to;
// inverted: unit mounted upside-down → mirror the scan.
explicit NanoScanDriver(const ModelConfig& cfg,
const std::string& ip = "0.0.0.0",
uint16_t port = 6060);
const std::string& ip = "0.0.0.0",
uint16_t port = 6060,
bool inverted = false);
~NanoScanDriver();
NanoScanDriver(const NanoScanDriver&) = delete;
@@ -99,6 +104,7 @@ private:
std::string detected_model_name_; // owned copy of cfg_.name (stable lifetime)
std::string ip_;
uint16_t port_;
bool inverted_ = false;
int sock_fd_ = -1;
ScanCallback cb_;