ActarrayInterface.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: Actarray Interface for Player
00022  * Author: Alexis Maldonado
00023  * Date: 19 September 2006
00024  */
00025 
00026 #ifndef ACTARRAYINTERFACE_HH
00027 #define ACTARRAYINTERFACE_HH
00028 
00029 #include "GazeboInterface.hh"
00030 
00031 namespace gazebo
00032 {
00038 
00039   class ActarrayIface;
00040 
00042   class ActarrayInterface : public GazeboInterface
00043   {
00045     public: ActarrayInterface( player_devaddr_t addr, GazeboDriver *driver,
00046                                ConfigFile *cf, int section);
00047   
00049     public: virtual ~ActarrayInterface();
00050   
00052     public: virtual int ProcessMessage(QueuePointer &respQueue,
00053                                        player_msghdr_t *hdr, void *data);
00054   
00056     public: virtual void Update();
00057   
00060     public: virtual void Subscribe();
00061   
00064     public: virtual void Unsubscribe();
00065   
00066     private: ActarrayIface *iface;
00067   
00069     private: char *gz_id;
00070   
00072     private: double datatime;
00073 
00074     private: player_actarray_data_t actData;
00075   };
00076   
00079   
00080   
00081 }
00082 #endif
Last updated Aug 04 2007