Yujin Robot YRL3V2 Series, Руководство пользователя

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Appendix
8. Appendix
8.1 Appendix A. Driver Interface (API)
The API provided when the YRL3V2 driver is installed can be used for processing and collecting the scanned
data.
8.1.1 Parameters
The descriptions of the values used by the API are as follows.
No. Parameter Name Default Description
1 mIPAddrParam 192.168.1.250 IP address for creating the communication
socket. LiDAR address.
2 mPortNumParam 1234
Port number for creating the communication
socket
3 mMinZParam 0
Z-axis lower limit for processing output data
(Unit: m)
4 mMaxZParam 5
Z-axis upper limit for processing output data
(Unit: m)
5 mMinYParam -35
Y-axis lower limit for processing output data
(Unit: m)
6 mMaxYParam 35
Y-axis upper limit for processing output data
(Unit: m)
7 mMinXParam -35
X-axis lower limit for processing output data
(Unit: m)
8 mMaxXParam 35
X-axis upper limit for processing output data
(Unit: m)
9 mMinRangeParam 0
Data range lower limit for processing output
data (Unit: m)
10 mMaxRangeParam 35
Data range upper limit for processing output
data (Unit: m)
11 mExtrinsicTransformMatParam
1 0 0 0
0 1 0 0
0 0 1 0.07
Transform Matrix for processing output data
12 mSensorCoordX 0
LiDAR X coordinate for processing output data
(Unit: m)
13 mSensorCoordY 0
LiDAR Y coordinate for processing output data
(Unit: m)
14 mSensorCoordZ 0.07
LiDAR Z coordinate for processing output data
(= LiDAR height. The default height when the
product is placed on the floor: 0.07 m) (Unit: m)
15 mSensorCoordRX 0
LiDAR roll rotation for processing output data
(Unit: degree)
16 mSensorCoordRY 0
LiDAR pitch rotation for processing output data
(Unit: degree)
17 mSensorCoordRZ 0
LiDAR yaw rotation for processing output data
(Unit: degree)