epuckIR.hpp

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/* Copyright 2008 Renato Florentino Garcia <fgar.renato@gmail.com>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2, as
 * published by the Free Software Foundation.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef EPUCK_IR_HPP
#define EPUCK_IR_HPP

#include "epuckInterface.hpp"
#include <vector>

class EpuckIR : public EpuckInterface
{
public:

  static const unsigned SENSOR_QUANTITY = 8;

  struct IRData
  {
    std::vector<float> voltages; 
    std::vector<float> ranges;   
  };


  EpuckIR(const SerialPort* const serialPort);

  IRData GetIRData() const;

  inline std::vector<EpuckInterface::Triple> GetGeometry() const
  {
    return this->geometry;
  }

private:

  std::vector<EpuckInterface::Triple> geometry;
};

#endif