hokuyo_laser_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
//
// IMPORTANT NOTE: This code has been generated through a script from the
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _hokuyo_laser_driver_h_
#define _hokuyo_laser_driver_h_

#include "iri_base_driver/iri_base_driver.h"
#include "iri_hokuyo_laser/HokuyoLaserConfig.h"

//include hokuyo_laser_driver main library
#include "hokuyo.h"

class HokuyoLaserDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    CHokuyo *laser;
    CMutex driver_access;
    int number_of_scans;
    std::string id;
    THokuyo_serial_config usb_cfg;
    THokuyo_ethernet_config eth_cfg;
    THokuyo_specs specs;
    std::string ip;
    std::string port;
    bool use_eth;

  public:

    float range_min;
    float range_max;
    float angle_increment;
    float angle_min;
    float angle_max;
    float scan_time;
    float time_increment;
    std::string frame_id;
    std::list<std::string> evnts;

    typedef iri_hokuyo_laser::HokuyoLaserConfig Config;

    Config config_;

    HokuyoLaserDriver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(const Config& new_cfg, uint32_t level=0);

    // here define all hokuyo_laser_driver interface methods to retrieve and set
    // the driver parameters

    ~HokuyoLaserDriver();

    void getScan(THokuyo_scan & scan);

    THokuyo_scan_config translateConfig(Config & cfg);
};

#endif