LaserInterface.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: Laser Interface for Player
00022  * Author: Nate Koenig
00023  * Date: 2 March 2006
00024  * SVN: $Id: LaserInterface.hh 226 2008-01-16 19:01:23Z natepak $
00025  */
00026 
00027 #ifndef LASERINTERFACE_HH
00028 #define LASERINTERFACE_HH
00029 
00030 #include "GazeboInterface.hh"
00031 
00032 namespace gazebo
00033 {
00034 
00040 
00041 // Forward declarations
00042 class LaserIface;
00043 
00045 class LaserInterface : public GazeboInterface
00046 {
00052   public: LaserInterface(player_devaddr_t addr, GazeboDriver *driver,
00053                               ConfigFile *cf, int section);
00054 
00056   public: virtual ~LaserInterface();
00057 
00062   public: virtual int ProcessMessage(QueuePointer &respQueue,
00063                                      player_msghdr_t *hdr, void *data);
00064 
00066   public: virtual void Update();
00067 
00070   public: virtual void Subscribe();
00071 
00074   public: virtual void Unsubscribe();
00075 
00077   private: LaserIface *iface;
00078 
00080   private: char *gz_id;
00081 
00083   private: double datatime;
00084 
00085   private: int scanId;
00086 
00087   private: player_laser_data_t data;
00088 };
00089 
00092 
00093 
00094 }
00095 #endif
Last updated Aug 04 2007