rangescanpublisher.h

00001 #ifndef ORCASIM2D_RANGESCANPUBLISHER_H
00002 #define ORCASIM2D_RANGESCANPUBLISHER_H
00003 
00004 #include <hydrosim2d/irangescanpublisher.h>
00005 #include <orcaifaceimpl/rangescanner2d.h>
00006 
00007 namespace orcasim2d {
00008 
00014 class RangeScanPublisher : public hydrosim2d::IRangeScanPublisher
00015 {
00016 
00017 public: 
00018 
00019     RangeScanPublisher( const orca::RangeScanner2dDescription &descr,
00020                         const std::string                     &interfaceTag,
00021                         const orcaice::Context                &context )
00022         : rangeScanner2dImpl_(new orcaifaceimpl::RangeScanner2dImpl(descr,interfaceTag,context)),
00023           descr_(descr)
00024         {}
00025 
00026     RangeScanPublisher( const orca::RangeScanner2dDescription &descr,
00027                         const orcaice::Context                &context,
00028                         const std::string                     &interfaceString )
00029         : rangeScanner2dImpl_(new orcaifaceimpl::RangeScanner2dImpl(descr,context,interfaceString)),
00030           descr_(descr)
00031         {}
00032 
00033     void initInterface()
00034         { rangeScanner2dImpl_->initInterface(); }
00035 
00036     // From hydrosim2d::IRangeScanPublisher
00037     void publish( const std::vector<float> &ranges );
00038 
00039 private: 
00040 
00041     orcaifaceimpl::RangeScanner2dImplPtr rangeScanner2dImpl_;
00042     orca::RangeScanner2dDescription      descr_;
00043 
00044 };
00045 
00046 }
00047 
00048 #endif