I have just checked in a small change to the hokuyo_aist library's API.
The following functions have been renamed:
unsigned int GetRanges (HokuyoData *data, double startAngle, double
endAngle, unsigned int clusterCount = 1);
unsigned int GetNewRanges (HokuyoData *data, double startAngle, double
endAngle, unsigned int clusterCount = 1);
unsigned int GetNewRangesAndIntensities (HokuyoData *data, double
startAngle, double endAngle, unsigned int clusterCount = 1);
The new names are GetRangesByAngle, GetNewRangesByAngle and
GetNewRangesAndIntensitiesByAngle, respectively. This resolves an
ambiguity in the overloading of these functions and the functions used
to retrieve range values by step rather than angle.
I have also added an initial version of Python bindings for this
library. These will be built automatically if Python and Boost.Python
are found. The shared module is installed to
$PREFIX/lib/python/site-packages/, so this path must be in your
PYTHON_PATH environment variable for the module to be located. An
example is provided, installed to
$PREFIX/share/gearbox/hokuyo_aist/example/. This example is a Python
port of the C++ example.
Currently the full API is provided with two exceptions: the
HokuyoSensorInfo object is not available in Python and the method of
retrieving range and intensity values from a HokuyoData object is to ask
for a single value each time using .Range (index) and .Intensity
(index). These will be fixed in the future (near future, I hope).
Geoff
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