26 int main(
int argc,
char* argv[])
30 cout <<
"Usage : " << argv[0] <<
" <IP> <port> " << endl;
34 CLMS100Eth laser(
string(argv[1]), atoi(argv[2]));
37 bool isOutObs, hardwareError;
39 laser.doProcessSimple(isOutObs, outObs, hardwareError);
46 mrpt::make_aligned_shared<opengl::CPlanarLaserScan>();
48 obj->setColor(0, 0, 1);
49 obj->setName(
"scan_LMS100");
51 ptr_scene->insert(
obj);
53 win3D.unlockAccess3DScene();
56 while (win3D.isOpen())
58 laser.doProcessSimple(isOutObs, outObs, hardwareError);
60 ptr_scene = win3D.get3DSceneAndLock();
62 std::dynamic_pointer_cast<opengl::CPlanarLaserScan>(
63 ptr_scene->getByName(
"scan_LMS100"));
66 win3D.unlockAccess3DScene();
68 std::this_thread::sleep_for(20ms);