Manual

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o rplidar_protocol.h

This header defines low-level data structures and constants for RPLIDAR protocol.

o rplidar_cmd.h

This header defines request/answer data structures and constants for RPLIDAR

protocol.

o rptypes.h

This header defines platform-independent data structures and constants.

SDK Initialization and Termination

User programs are required to create an RPlidarDriver instance via SDK before

communicating with an RPLIDAR device. It can be implemented by using the

following static function is used:

RPlidarDriver *RPlidarDriver::CreateDriver (_u32 drivertype)

Each RPlidarDriver instance is bound to only one RPLIDAR device at the same time.

But user programs can freely allocate arbitrary number of RPlidarDriver instances

and make them communicates with multiple RPLIAR devices concurrently.

Once user programs finish operations, all previously created RPlidarDriver

instances should be released explicitly using the following static function in order

to free system memory.

RPlidarDriver::DisposeDriver(RPlidarDriver * drv)

Connecting to an RPLIDAR

After creating an RPlidarDriver instance, the user program should invoke the

connect() function firstly to open the serial port and connect with the RPLIDAR

device. All RPLIDAR operations require invoking the connect() function first.

u_result RPlidarDriver::connect(const char * port_path, _u32

baudrate, _u32 flag = 0)

The function returns RESULT_OK for success operation.