toranger.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 */ 00021 00023 // 00024 // Desc: Base class for ->ranger interface converter drivers. 00025 // Author: Geoffrey Biggs 00026 // Date: 06/05/2007 00027 // 00029 00030 #include <libplayercore/playercore.h> 00031 #include <libplayercore/error.h> 00032 00033 // Driver for computing the free c-space from a laser scan. 00034 class ToRanger : public Driver 00035 { 00036 public: 00037 ToRanger (ConfigFile* cf, int section); 00038 ~ToRanger (void); 00039 00040 // Message processor - must be called first by child classes if overridden 00041 virtual int ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data); 00042 00043 virtual int Setup (void); 00044 virtual int Shutdown (void); 00045 00046 protected: 00047 // Ranger interface stuff - should be filled by ProcessMessage() 00048 player_ranger_geom_t deviceGeom; // Geometry of the device 00049 00050 // Input device 00051 Device *inputDevice; // Input device interface 00052 player_devaddr_t inputDeviceAddr; // Input device address 00053 };