.. _program_listing_file__tmp_ws_src_hls_lfcd_lds_driver_include_hls_lfcd_lds_driver_hlds_laser_segment_publisher.h:

Program Listing for File hlds_laser_segment_publisher.h
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hls_lfcd_lds_driver_include_hls_lfcd_lds_driver_hlds_laser_segment_publisher.h>` (``/tmp/ws/src/hls_lfcd_lds_driver/include/hls_lfcd_lds_driver/hlds_laser_segment_publisher.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*******************************************************************************
   * Copyright (c) 2016, Hitachi-LG Data Storage
   * Copyright (c) 2017, ROBOTIS
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   * * Redistributions of source code must retain the above copyright notice, this
   *   list of conditions and the following disclaimer.
   *
   * * Redistributions in binary form must reproduce the above copyright notice,
   *   this list of conditions and the following disclaimer in the documentation
   *   and/or other materials provided with the distribution.
   *
   * * Neither the name of the copyright holder nor the names of its
   *   contributors may be used to endorse or promote products derived from
   *   this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *******************************************************************************/
   
    /* Authors: SP Kong, JH Yang, Pyo */
    /* maintainer: Pyo */
   
   #ifndef HLDS_LASER_SEGMENT_PUBLISHER_H_
   #define HLDS_LASER_SEGMENT_PUBLISHER_H_
   
   #include <string>
   #include <std_msgs/UInt16.h>
   #include <sensor_msgs/LaserScan.h>
   #include <boost/asio.hpp>
   #include <boost/array.hpp>
   
   namespace hls_lfcd_lds
   {
   class LFCDLaser
   {
    public:
     //uint16_t rpms; ///< @brief RPMS derived from the rpm bytes in an LFCD packet
       LFCDLaser(boost::asio::io_service& io);
   
     ~LFCDLaser() {};
   
     void poll();
   
     void close();
   
    private:
     // ROS NodeHandle
     ros::NodeHandle nh_;
   
     // ROS Topic Publishers
     ros::Publisher laser_pub_;
   
     std::string frame_id_;
     sensor_msgs::LaserScan scan_;
   
     std::string port_; 
     int baud_rate_; 
     int lfcdstart_;
     int lfcdstop_;
     int lfcdstartstop_; 
     bool shutting_down_; 
     boost::asio::serial_port serial_; 
     uint16_t motor_speed_; 
   };
   };
   
   #endif // HLDS_LASER_SEGMENT_PUBLISHER_H_