SickLMS200_Laser.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 /*
00022  * Desc: Sick LMS 200 laser controller.
00023  * Author: Nathan Koenig
00024  * Date: 01 Feb 2007
00025  * SVN: $Id: SickLMS200_Laser.hh 123 2007-09-19 20:36:14Z natepak $
00026  */
00027 
00028 #ifndef SICKLMS200_LASER_HH
00029 #define SICKLMS200_LASER_HH
00030 
00031 #include "Controller.hh"
00032 
00033 namespace gazebo
00034 {
00035   class LaserIface;
00036   class FiducialIface;
00037   class RaySensor;
00038 
00041 
00064 
00065 
00066 
00067 class SickLMS200_Laser : public Controller
00068 {
00071   public: SickLMS200_Laser(Entity *parent);
00072 
00074   public: virtual ~SickLMS200_Laser();
00075 
00079   protected: virtual void LoadChild(XMLConfigNode *node);
00080 
00083   protected: virtual void InitChild();
00084 
00087   protected: virtual void UpdateChild(UpdateParams &params);
00088 
00091   protected: virtual void FiniChild();
00092 
00094   private: void PutLaserData();
00095 
00097   private: void PutFiducialData();
00098 
00100   private: LaserIface *laserIface;
00101 
00102   private: FiducialIface *fiducialIface;
00103 
00105   private: RaySensor *myParent;
00106 
00107 };
00108 
00110 
00111 
00112 }
00113 
00114 #endif
00115
Last updated Aug 04 2007