orcascanutil.h

00001 #ifndef ORCASCANUTIL_CONVERSIONS_H
00002 #define ORCASCANUTIL_CONVERSIONS_H
00003 
00004 #include <hydroscanutil/scanutil.h>
00005 #include <hydronavutil/pose.h>
00006 #include <orca/rangescanner2d.h>
00007 #include <hydrotime/time.h>
00008 
00009 namespace orcascanutil {
00010 
00011     hydroscanutil::ScannerConfig 
00012     convertConfig( const orca::RangeScanner2dDescription &descr );
00013 
00014     hydronavutil::Pose convertOffset( const orca::RangeScanner2dDescription &descr );
00015 
00016     orca::RangeScanner2dDescription
00017     convert( const hydroscanutil::ScannerConfig &scannerConfig,
00018              const hydronavutil::Pose           &scannerOffset,
00019              const hydrotime::Time              &timeStamp = hydrotime::Time(0,0) );
00020 }
00021 
00022 #endif