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Correct typo in 'Intensity' #49

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4 changes: 2 additions & 2 deletions core/common/ydlidar_def.h
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ typedef enum {
LidarPropDeviceType,/**< lidar connection type code */
LidarPropSampleRate,/**< lidar sample rate */
LidarPropAbnormalCheckCount,/**< abnormal maximum check times */
LidarPropIntenstiyBit,/**< lidar intensity bit count */
LidarPropIntensityBit,/**< lidar intensity bit count */
/* float properties */
LidarPropMaxRange = 20,/**< lidar maximum range */
LidarPropMinRange,/**< lidar minimum range */
Expand All @@ -79,7 +79,7 @@ typedef enum {
LidarPropInverted,/**< lidar inverted flag */
LidarPropAutoReconnect,/**< lidar hot plug flag */
LidarPropSingleChannel,/**< lidar single-channel flag */
LidarPropIntenstiy,/**< lidar intensity flag */
LidarPropIntensity,/**< lidar intensity flag */
LidarPropSupportMotorDtrCtrl,/**< lidar support motor Dtr ctrl flag */
LidarPropSupportHeartBeat,/**< lidar support heartbeat flag */
} LidarProperty;
Expand Down
2 changes: 1 addition & 1 deletion doc/Dataset.md
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@@ -1,5 +1,5 @@
# YDLIDAR DATASET
|LIDAR | Model | Baudrate | SampleRate(K) | Range(m) | Frequency(HZ) | Intenstiy(bit) | SingleChannel | voltage(V)|
|LIDAR | Model | Baudrate | SampleRate(K) | Range(m) | Frequency(HZ) | Intensity(bit) | SingleChannel | voltage(V)|
| :-------- |:--:|:--:|:--:|:--:|:--:|:--:|:--:|:--:|
| F4 | 1 | 115200 | 4 | 0.12~12 | 5~12 | false | false | 4.8~5.2 |
| S4 | 4 | 115200 | 4 | 0.10~8.0 | 5~12 (PWM) | false | false | 4.8~5.2 |
Expand Down
24 changes: 12 additions & 12 deletions doc/YDLIDAR_SDK_API_for_Developers.md
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Expand Up @@ -24,7 +24,7 @@ This document provides an extensive technical deep dive into how to create, mani

The first part of demonstrating YDLIDAR SDK API is to understand the ydlidar_test/tof_test/etlidar_Test example. Following are one optinal concepts: `ydlidar::os_init()` (basic unit) of the example.

### Create A System State
### Create A System State

In the YDLIDAR SDK, the `ydlidar::os_init()` is optinal unit, If you need to accept `Ctrl + C` or other system abnormal signals. you can use it to create a system state, and check whether the system is normal by `ydlidar::os_isOk()`.
The system signal creation interface is as follows:
Expand Down Expand Up @@ -98,7 +98,7 @@ int main(int argc, char *argv[]) {
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
laser.setlidaropt(LidarPropIntensity, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));
Expand Down Expand Up @@ -128,7 +128,7 @@ int main(int argc, char *argv[]) {
fflush(stderr);
}

// Turn On success and loop
// Turn On success and loop
while (ret && ydlidar::os_isOk()) {
LaserScan scan;
if (laser.doProcessSimple(scan)) {
Expand Down Expand Up @@ -210,7 +210,7 @@ int main(int argc, char *argv[]) {
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
laser.setlidaropt(LidarPropIntensity, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));
Expand Down Expand Up @@ -240,7 +240,7 @@ int main(int argc, char *argv[]) {
fflush(stderr);
}

// Turn On success and loop
// Turn On success and loop
while (ret && ydlidar::os_isOk()) {
LaserScan scan;
if (laser.doProcessSimple(scan)) {
Expand Down Expand Up @@ -338,7 +338,7 @@ There are two ways to integrate YDLIDAR SDK into your project.
* [Add source code to the Project](#add-source-code-to-the-project).
- [Copy YDLIDAR SDK to your project](#copy-ydlidar-sdk-to-your-project)
- [Add YDLIDAR SDK project to the CMakeLists file of your project](#add-ydlidar-sdk-project-to-the-cmakelists-file-of-your-project)


### Calling a compliled library
The implementation of the demo mainly includes the following steps.
Expand Down Expand Up @@ -410,7 +410,7 @@ target_link_libraries(${PROJECT_NAME} ydlidar_sdk)

############## YDLIDAR SDK END#####################################
```
Note:
Note:
* If you do not want to generate samples in YDLidar-SDK, Add the following options when compiling:
```shell
$cmake -DBUILD_EXAMPLES=OFF ../ && make
Expand Down Expand Up @@ -472,7 +472,7 @@ For additional information and examples, refer to [CYDLidar](#cydlidar)
* - @ref LidarPropInverted
* - @ref LidarPropAutoReconnect
* - @ref LidarPropSingleChannel
* - @ref LidarPropIntenstiy
* - @ref LidarPropIntensity
* - @ref LidarPropSupportMotorDtrCtrl
* - @ref LidarPropSupportHeartBeat
* @note set bool property example
Expand Down Expand Up @@ -534,7 +534,7 @@ bool setlidaropt(int optname, const void *optval, int optlen);
* - @ref LidarPropInverted
* - @ref LidarPropAutoReconnect
* - @ref LidarPropSingleChannel
* - @ref LidarPropIntenstiy
* - @ref LidarPropIntensity
* - @ref LidarPropSupportMotorDtrCtrl
* - @ref LidarPropSupportHeartBeat
* @note get bool property example
Expand Down Expand Up @@ -652,7 +652,7 @@ void lidarDestroy(YDLidar **lidar);
* - @ref LidarPropInverted
* - @ref LidarPropAutoReconnect
* - @ref LidarPropSingleChannel
* - @ref LidarPropIntenstiy
* - @ref LidarPropIntensity
* - @ref LidarPropSupportMotorDtrCtrl
* - @ref LidarPropSupportHeartBeat
* @note set bool property example
Expand Down Expand Up @@ -715,7 +715,7 @@ bool setlidaropt(YDLidar *lidar, int optname, const void *optval, int optlen);
* - @ref LidarPropInverted
* - @ref LidarPropAutoReconnect
* - @ref LidarPropSingleChannel
* - @ref LidarPropIntenstiy
* - @ref LidarPropIntensity
* - @ref LidarPropSupportMotorDtrCtrl
* - @ref LidarPropSupportHeartBeat
* @note get bool property example
Expand Down Expand Up @@ -1340,7 +1340,7 @@ The Table that the user uses to perform parameter related operations:
For additional information and examples, refer to [Parameter](#code-example)

### Table List - Models
|LIDAR | Model | Baudrate | SampleRate(K) | Range(m) | Frequency(HZ) | Intenstiy(bit) | SingleChannel | voltage(V)|
|LIDAR | Model | Baudrate | SampleRate(K) | Range(m) | Frequency(HZ) | Intensity(bit) | SingleChannel | voltage(V)|
| :-------- |:--:|:--:|:--:|:--:|:--:|:--:|:--:|:--:|
| F4 | 1 | 115200 | 4 | 0.12~12 | 5~12 | false | false | 4.8~5.2 |
| S4 | 4 | 115200 | 4 | 0.10~8.0 | 5~12 (PWM) | false | false | 4.8~5.2 |
Expand Down
24 changes: 12 additions & 12 deletions doc/tutorials/writing_lidar_network_adapter_tutorial_c++.md
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Expand Up @@ -19,7 +19,7 @@ Tutorial Level: BEGINNER
mkdir beginner_tutorials
cd beginner_tutorials
```
### Create the lidar_tutorial.cpp file within the beginner_tutorials project and paste the following inside it:
### Create the lidar_tutorial.cpp file within the beginner_tutorials project and paste the following inside it:
[https://github.com/YDLIDAR/ydlidar_tutorials/blob/master/cpp_tutorials/lidar_tutorial/lidar_tutorial.cpp](https://github.com/YDLIDAR/ydlidar_tutorials/blob/master/cpp_tutorials/lidar_tutorial/lidar_tutorial.cpp)

```c++
Expand Down Expand Up @@ -80,7 +80,7 @@ int main(int argc, char *argv[]) {
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
laser.setlidaropt(LidarPropIntensity, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));
Expand Down Expand Up @@ -110,7 +110,7 @@ int main(int argc, char *argv[]) {
fflush(stderr);
}

// Turn On success and loop
// Turn On success and loop
while (ret && ydlidar::os_isOk()) {
LaserScan scan;
if (laser.doProcessSimple(scan)) {
Expand Down Expand Up @@ -140,11 +140,11 @@ The device type `LidarPropDeviceType` value is changed from the `YDLIDAR_TYPE_SE


### The Code Explained
Now, let's break the code down.
Now, let's break the code down.
```c++
#include "CYdLidar.h"
```
CYdLidar.h is a convenience include that includes all the headers necessary to use the most common public pieces of the YDLIDAR SDK.
CYdLidar.h is a convenience include that includes all the headers necessary to use the most common public pieces of the YDLIDAR SDK.

```c++
ydlidar::os_init();
Expand All @@ -154,7 +154,7 @@ Initialize system signal. install a SIGINT handler which provides Ctrl-C handlin
```c++
CYdLidar laser;
```
Create a handle to this Lidar.
Create a handle to this Lidar.

```c++
//////////////////////string property/////////////////
Expand Down Expand Up @@ -213,7 +213,7 @@ Set Lidar string int paramters.
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
laser.setlidaropt(LidarPropIntensity, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));
Expand Down Expand Up @@ -269,7 +269,7 @@ Start the device scanning routine which runs on a separate thread and enable mot


```c++
// Turn On success and loop
// Turn On success and loop
while (ret && ydlidar::os_isOk()) {
```
By `ydlidar::os_init()` will install a SIGINT handler which provides Ctrl-C handling which will cause `ydlidar::os_isOk()` to return false if that happens.
Expand Down Expand Up @@ -349,17 +349,17 @@ Linux:
you need to put `YDLIDAR_SDK_LIBRARIES` at the end.


you can use the following variable to depend on all necessary targets:
you can use the following variable to depend on all necessary targets:

```cmake
target_link_libraries(${PROJECT_NAME} ${YDLIDAR_SDK_LIBRARIES})
```
Now run cmake:
Now run cmake:
```cmake
# In your project directory
mkdir build
cd build
cmake ..
make j4
make j4
```
Now that you have written a simple lidar tutorial, let's [examine the simple lidar tutorial](examine_the_simple_lidar_tutorial.md).
Now that you have written a simple lidar tutorial, let's [examine the simple lidar tutorial](examine_the_simple_lidar_tutorial.md).
24 changes: 12 additions & 12 deletions doc/tutorials/writing_lidar_tutorial_c++.md
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Expand Up @@ -19,7 +19,7 @@ Tutorial Level: BEGINNER
mkdir beginner_tutorials
cd beginner_tutorials
```
### Create the lidar_tutorial.cpp file within the beginner_tutorials project and paste the following inside it:
### Create the lidar_tutorial.cpp file within the beginner_tutorials project and paste the following inside it:
[https://github.com/YDLIDAR/ydlidar_tutorials/blob/master/cpp_tutorials/lidar_tutorial/lidar_tutorial.cpp](https://github.com/YDLIDAR/ydlidar_tutorials/blob/master/cpp_tutorials/lidar_tutorial/lidar_tutorial.cpp)

```c++
Expand Down Expand Up @@ -84,7 +84,7 @@ int main(int argc, char *argv[]) {
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
laser.setlidaropt(LidarPropIntensity, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));
Expand Down Expand Up @@ -118,7 +118,7 @@ int main(int argc, char *argv[]) {
fflush(stderr);
}

// Turn On success and loop
// Turn On success and loop
while (ret && ydlidar::os_isOk()) {
LaserScan scan;
if (laser.doProcessSimple(scan)) {
Expand All @@ -140,11 +140,11 @@ int main(int argc, char *argv[]) {
```

### The Code Explained
Now, let's break the code down.
Now, let's break the code down.
```c++
#include "CYdLidar.h"
```
CYdLidar.h is a convenience include that includes all the headers necessary to use the most common public pieces of the YDLIDAR SDK.
CYdLidar.h is a convenience include that includes all the headers necessary to use the most common public pieces of the YDLIDAR SDK.

```c++
ydlidar::os_init();
Expand All @@ -154,7 +154,7 @@ Initialize system signal. install a SIGINT handler which provides Ctrl-C handlin
```c++
CYdLidar laser;
```
Create a handle to this Lidar.
Create a handle to this Lidar.

```c++
//////////////////////string property/////////////////
Expand Down Expand Up @@ -217,7 +217,7 @@ Set Lidar string int paramters.
laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
/// intensity
b_optvalue = false;
laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
laser.setlidaropt(LidarPropIntensity, &b_optvalue, sizeof(bool));
/// Motor DTR
b_optvalue = false;
laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));
Expand Down Expand Up @@ -273,7 +273,7 @@ Start the device scanning routine which runs on a separate thread and enable mot


```c++
// Turn On success and loop
// Turn On success and loop
while (ret && ydlidar::os_isOk()) {
```
By `ydlidar::os_init()` will install a SIGINT handler which provides Ctrl-C handling which will cause `ydlidar::os_isOk()` to return false if that happens.
Expand Down Expand Up @@ -353,17 +353,17 @@ Linux:
you need to put `YDLIDAR_SDK_LIBRARIES` at the end.


you can use the following variable to depend on all necessary targets:
you can use the following variable to depend on all necessary targets:

```cmake
target_link_libraries(${PROJECT_NAME} ${YDLIDAR_SDK_LIBRARIES})
```
Now run cmake:
Now run cmake:
```cmake
# In your project directory
mkdir build
cd build
cmake ..
make j4
make j4
```
Now that you have written a simple lidar tutorial, let's [examine the simple lidar tutorial](examine_the_simple_lidar_tutorial.md).
Now that you have written a simple lidar tutorial, let's [examine the simple lidar tutorial](examine_the_simple_lidar_tutorial.md).
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