lasertransform.h
00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2000 Brian Gerkey & Kasper Stoy 00004 * gerkey@usc.edu kaspers@robotics.usc.edu 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 */ 00022 // 00023 // Desc: Base class for laser transformations (i.e. cspace etc) 00024 // Author: Andrew Howard 00025 // Date: 1 Sep 2002 00026 // CVS: $Id: lasertransform.h 4135 2007-08-23 19:58:48Z gerkey $ 00027 // 00028 // Theory of operation - 00029 // 00030 // Requires - Laser device. 00031 // 00033 00034 00035 00036 #include <errno.h> 00037 #include <string.h> 00038 #include <math.h> 00039 #include <stdlib.h> // for atoi(3) 00040 #include <unistd.h> 00041 00042 #include <libplayercore/playercore.h> 00043 #include <libplayercore/error.h> 00044 00045 // Driver for computing the free c-space from a laser scan. 00046 class LaserTransform : public Driver 00047 { 00048 // Constructor 00049 public: LaserTransform( ConfigFile* cf, int section); 00050 00051 // MessageHandler 00052 public: virtual int ProcessMessage(QueuePointer & resp_queue, 00053 player_msghdr * hdr, 00054 void * data); 00055 00056 // Setup/shutdown routines. 00057 public: virtual int Setup(); 00058 public: virtual int Shutdown(); 00059 00060 protected: 00061 // Process laser data. Returns non-zero if the laser data has been 00062 // updated. 00063 virtual int UpdateLaser(player_laser_data_t * data) = 0; 00064 00065 // Process requests. Returns 1 if the configuration has changed. 00066 int HandleRequests(); 00067 00068 // Handle geometry requests. 00069 void HandleGetGeom(void *client, void *req, int reqlen); 00070 00071 // Laser stuff. 00072 Device *laser_device; 00073 player_devaddr_t laser_addr; 00074 struct timeval laser_timestamp; 00075 00076 // Fiducila stuff (the data we generate). 00077 player_laser_data_t data; 00078 struct timeval time; 00079 }; 00080