player rwi_sonardevice.h Source File

00001 /*
00002  *  Player - One Hell of a Robot Server
00003  *  Copyright (C) 2002
00004  *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
00005  *     Nik Melchior
00006  *
00007  *
00008  *  This program is free software; you can redistribute it and/or modify
00009  *  it under the terms of the GNU General Public License as published by
00010  *  the Free Software Foundation; either version 2 of the License, or
00011  *  (at your option) any later version.
00012  *
00013  *  This program is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016  *  GNU General Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License
00019  *  along with this program; if not, write to the Free Software
00020  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00021  *
00022  */
00023 
00024 #ifndef _RWI_SONARDEVICE_H
00025 #define _RWI_SONARDEVICE_H
00026 
00027 #include <rwidevice.h>
00028 #include <drivertable.h>
00029 
00030 class CRWISonarDevice: public CRWIDevice {
00031 public:
00032         CRWISonarDevice ( ConfigFile* cf, int section);
00033 
00034         virtual int Setup ();
00035         virtual int Shutdown ();
00036         
00037         virtual void Main ();
00038 
00039 private:
00040 
00041         #ifdef USE_MOBILITY
00042         MobilityGeometry::SegmentState_var sonar_state;
00043         #endif // USE_MOBILITY
00044         
00045         // specify which sonar ring to use
00046         bool upper;
00047 };
00048 
00049 #endif // _RWI_SONARDEVICE_H