LaserInterface.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: Laser Interface for Player
00022  * Author: Nate Koenig
00023  * Date: 2 March 2006
00024  * CVS: $Id: LaserInterface.hh,v 1.1 2006/03/02 22:26:31 natepak Exp $
00025  */
00026 
00027 #ifndef LASERINTERFACE_HH
00028 #define LASERINTERFACE_HH
00029 
00030 #include "GazeboInterface.hh"
00031 
00032 // Forward declarations
00033 typedef struct gz_laser gz_laser_t;
00034 
00035 class LaserInterface : public GazeboInterface
00036 {
00038   public: LaserInterface(player_devaddr_t addr, GazeboDriver *driver,
00039                               ConfigFile *cf, int section);
00040 
00042   public: virtual ~LaserInterface();
00043 
00045   public: virtual int ProcessMessage(MessageQueue *respQueue,
00046                                      player_msghdr_t *hdr, void *data);
00047 
00049   public: virtual void Update();
00050 
00053   public: virtual void Subscribe();
00054 
00057   public: virtual void Unsubscribe();
00058 
00059   private: gz_laser_t *iface;
00060 
00062   private: char *gz_id;
00063 
00065   private: double datatime;
00066 
00067   private: int scanId;
00068 };
00069 #endif
Last updated 12 September 2005 21:38:45