FiducialInterface.hh

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: Fiducial Interface for Player
00022  * Author: Nate Koenig
00023  * Date: 2 March 2006
00024  * SVN: $SVN:$
00025  */
00026 
00027 #ifndef FIDUCIALINTERFACE_HH
00028 #define FIDUCIALINTERFACE_HH
00029 
00030 #include "GazeboInterface.hh"
00031 
00032 namespace gazebo
00033 {
00039 
00040   // Forward declarations
00041   class FiducialIface;
00042 
00044   class FiducialInterface : public GazeboInterface
00045   {
00051     public: FiducialInterface(player_devaddr_t addr, GazeboDriver *driver,
00052                 ConfigFile *cf, int section);
00053 
00055     public: virtual ~FiducialInterface();
00056 
00061     public: virtual int ProcessMessage(QueuePointer &respQueue,
00062                 player_msghdr_t *hdr, void *data);
00063 
00065     public: virtual void Update();
00066 
00069     public: virtual void Subscribe();
00070 
00073     public: virtual void Unsubscribe();
00074 
00076     private: FiducialIface *iface;
00077 
00079     private: char *gz_id;
00080 
00082     private: double datatime;
00083 
00084   };
00087 
00088 
00089 
00090 }
00091 #endif
Last updated Aug 04 2007