hydrointerfaces/laserscanner2d.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This distribution is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */
#ifndef HYDRO_INTERFACES_LASERSCANNER2D_H
#define HYDRO_INTERFACES_LASERSCANNER2D_H

#include <string>
#include <vector>
#include <hydroutil/context.h>

namespace hydrointerfaces 
{











class SOEXPORT LaserScanner2d 
{

public:

    class Config
    {   
    public:
        Config();
        bool validate() const;
        std::string toString() const;
        bool operator==( const Config & other );
        bool operator!=( const Config & other );

        double minRange;
        double maxRange;
        double fieldOfView;
        double startAngle;
        int    numberOfSamples;
    };

    class Data
    {
    public:
        Data()
            : haveWarnings(false)
            {}

        float         *ranges;
        unsigned char *intensities;
        int            timeStampSec;
        int            timeStampUsec;
        bool           haveWarnings;
        std::string    warnings;
    };

    virtual ~LaserScanner2d() {};

    virtual void read( Data &data )=0;

private:

};

class SOEXPORT LaserScanner2dFactory {
public:
    virtual ~LaserScanner2dFactory() {};
    virtual LaserScanner2d *createDriver( const LaserScanner2d::Config &config,
                                          const hydroutil::Context     &context ) const=0;
};

} // namespace

// Function for dynamically instantiating drivers.
// A driver must have a function like so:
// extern "C" {
//     hydrointerfaces::LaserScanner2dFactory *createLaserScanner2dDriverFactory();
// }
typedef hydrointerfaces::LaserScanner2dFactory *LaserScanner2dDriverFactoryMakerFunc();

#endif