Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This distribution is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef HYDRO_INTERFACES_LASERSCANNER2D_H
00011 #define HYDRO_INTERFACES_LASERSCANNER2D_H
00012 
00013 #include <string>
00014 #include <vector>
00015 #include <hydroutil/context.h>
00016 
00017 namespace hydrointerfaces 
00018 {
00019 
00033 
00034 
00035 
00036 
00037 
00038 
00039 
00040 
00041 
00042 
00043 class SOEXPORT LaserScanner2d 
00044 {
00045 
00046 public:
00047 
00049     class Config
00050     {   
00051     public:
00052         Config();
00053         bool validate() const;
00054         std::string toString() const;
00055         bool operator==( const Config & other );
00056         bool operator!=( const Config & other );
00057 
00059         double minRange;
00061         double maxRange;
00063         double fieldOfView;
00065         double startAngle;
00067         int    numberOfSamples;
00068     };
00069 
00071     class Data
00072     {
00073     public:
00074         Data()
00075             : haveWarnings(false)
00076             {}
00077 
00078         float         *ranges;
00079         unsigned char *intensities;
00080         int            timeStampSec;
00081         int            timeStampUsec;
00082         bool           haveWarnings;
00084         std::string    warnings;
00085     };
00086 
00087     virtual ~LaserScanner2d() {};
00088 
00092     virtual void read( Data &data )=0;
00093 
00094 private:
00095 
00096 };
00097 
00099 class SOEXPORT LaserScanner2dFactory {
00100 public:
00101     virtual ~LaserScanner2dFactory() {};
00103     virtual LaserScanner2d *createDriver( const LaserScanner2d::Config &config,
00104                                   const hydroutil::Context &context ) const=0;
00105 };
00106 
00108 } // namespace
00109 
00110 // Function for dynamically instantiating drivers.
00111 // A driver must have a function like so:
00112 // extern "C" {
00113 //     hydrointerfaces::LaserScanner2dFactory *createDriverFactory();
00114 // }
00115 typedef hydrointerfaces::LaserScanner2dFactory *DriverFactoryMakerFunc();
00116 
00117 #endif
laserscanner2d.h
