hydrointerfaces/rangerarray.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_RANGERARRAY_H
#define HYDRO_INTERFACES_RANGERARRAY_H

#include <string>
#include <vector>
#include <hydroutil/context.h>
#include <hydrobros1/types.h>

namespace hydrointerfaces 
{











class SOEXPORT RangerArray 
{

public:

  class Description
  {
  public:
    double minRange;
    double maxRange;
    double detectionConeAngle;
    std::vector<hydrobros1::Frame3d> poses;
  };

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

    float              *ranges;
    int                *timeStampsSec;
    int                *timeStampsUsec;
    bool               haveWarnings;
    std::string        warnings;
  };

  virtual ~RangerArray() {};
  
  virtual void getDescription( Description &description )=0;

  virtual void read( Data &data )=0;

private:

};

class SOEXPORT RangerArrayFactory {
public:
  virtual ~RangerArrayFactory() {};
  virtual RangerArray *createDriver( const hydroutil::Context     &context ) const=0;
};

} // namespace

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

#endif