Manual

CONTENTS ................................................................................................................................................... 1
1. INTRODUCTION ................................................................................................................................. 3
SDK ORGANIZATION ......................................................................................................................................... 3
BUILD SDK AND DEMO APPLICATIONS ............................................................................................................. 4
CROSS COMPILE ................................................................................................................................................. 6
2. DEMO APPLICATION ........................................................................................................................ 7
ULTRA_SIMPLE .................................................................................................................................................... 7
SIMPLE_GRABBER ................................................................................................................................................ 8
FRAME_GRABBER ................................................................................................................................................ 9
3. SDK USAGE AND DEVELOPMENT GUIDE .................................................................................. 11
ASSUMPTION .................................................................................................................................................... 11
SDK USAGE ...................................................................................................................................................... 11
RUNTIME CONSISTENCY ................................................................................................................................... 11
SDK HEADERS .................................................................................................................................................. 11
SDK INITIALIZATION AND TERMINATION ........................................................................................................ 12
CONNECTING TO AN RPLIDAR ....................................................................................................................... 12
MOTOR START AND STOP CONTROL ............................................................................................................... 13
MEASUREMENT SCAN AND DATA ACQUIRING ................................................................................................ 13
RETRIEVING OTHER INFORMATION OF AN RPLIDAR...................................................................................... 15
THE OPERATIONS RELATED TO THE ACCESSORY BOARD ................................................................................. 15
4. REVISION HISTORY ......................................................................................................................... 17
APPENDIX .................................................................................................................................................. 18
IMAGE AND TABLE INDEX ................................................................................................................................. 18
Contents