ActarrayInterface.hh

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00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: Actarray Interface for Player
00022  * Author: Alexis Maldonado
00023  * Date: 19 September 2006
00024  */
00025 
00026 #ifndef PTZINTERFACE_HH
00027 #define PTXINTERFACE_HH
00028 
00029 #include "GazeboInterface.hh"
00030 
00031 // Forward declarations
00032 typedef struct gz_actarray gz_actarray_t;
00033 
00034 class ActarrayInterface : public GazeboInterface
00035 {
00037   public: ActarrayInterface(player_devaddr_t addr, GazeboDriver *driver,
00038                               ConfigFile *cf, int section);
00039 
00041   public: virtual ~ActarrayInterface();
00042 
00044   public: virtual int ProcessMessage(MessageQueue *respQueue,
00045                                      player_msghdr_t *hdr, void *data);
00046 
00048   public: virtual void Update();
00049 
00052   public: virtual void Subscribe();
00053 
00056   public: virtual void Unsubscribe();
00057 
00058   private: gz_actarray_t *iface;
00059 
00061   private: char *gz_id;
00062 
00064   private: double datatime;
00065 };
00066 #endif
Last updated 12 September 2005 21:38:45