libs/orcaplayer/convertutils.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp, Ben Upcroft
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCAPLAYER_CONVERT_UTILITIES_H
00012 #define ORCAPLAYER_CONVERT_UTILITIES_H
00013 
00014 // Orca objects
00015 #include <orca/laserscanner2d.h>
00016 #include <orca/localise2d.h>
00017 #include <orca/odometry3d.h>
00018 
00019 
00020 // Player proxies
00021 namespace PlayerCc
00022 {
00023 class LaserProxy;
00024 class Position2dProxy;
00025 class Position3dProxy;
00026 class SimulationProxy;
00027 }
00028 
00029 namespace orcaplayer
00030 {
00035 
00039 void convert( const PlayerCc::LaserProxy & proxy, orca::LaserScanner2dDataPtr& obj, bool convertHeaders=true );
00040 
00042 void convert( const PlayerCc::LaserProxy & proxy, 
00043          double &maxRange, double &fieldOfView, double &startAngle, int &numberOfSamples );
00044 
00047 void convert( PlayerCc::SimulationProxy & proxy, orca::Localise2dData& obj, const std::string & id );
00048 //void convert( const PlayerCc::SimulationProxy & proxy, orca::Localise2dData& obj, const std::string & id );
00049 
00051 void convert( const PlayerCc::Position3dProxy & proxy, orca::Odometry3dData& obj );
00052 
00053 
00055 
00060 void convert( const orca::LaserScanner2dDataPtr& obj, PlayerCc::LaserProxy & proxy );
00062 
00063 } // namespace
00064 
00065 #endif