SonarInterface.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: Sonar Interface for Player 00022 * Author: Nate Koenig 00023 * Date: 2 March 2006 00024 * SVN: $Id: SonarInterface.hh 156 2007-11-26 20:26:57Z natepak $ 00025 */ 00026 00027 #ifndef SONARINTERFACE_HH 00028 #define SONARINTERFACE_HH 00029 00030 #include "GazeboInterface.hh" 00031 00032 // Forward declarations 00033 typedef struct gz_sonar gz_sonar_t; 00034 00036 class SonarInterface : public GazeboInterface 00037 { 00039 public: SonarInterface(player_devaddr_t addr, GazeboDriver *driver, 00040 ConfigFile *cf, int section); 00041 00043 public: virtual ~SonarInterface(); 00044 00046 public: virtual int ProcessMessage(QueuePointer &respQueue, 00047 player_msghdr_t *hdr, void *data); 00048 00050 public: virtual void Update(); 00051 00054 public: virtual void Subscribe(); 00055 00058 public: virtual void Unsubscribe(); 00059 00060 private: gz_sonar_t *iface; 00061 00063 private: char *gz_id; 00064 00066 private: double datatime; 00067 }; 00068 #endif