xv11_laser.h
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00001 /*********************************************************************
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00004  *  Copyright (c) 2011, Eric Perko, Chad Rockey
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00034 
00035 #include <sensor_msgs/LaserScan.h>
00036 #include <boost/asio.hpp>
00037 #include <boost/array.hpp>
00038 #include <string>
00039 
00040 namespace xv_11_laser_driver {
00041     class XV11Laser {
00042         public:
00043               uint16_t rpms; 
00044 
00050             XV11Laser(const std::string& port, uint32_t baud_rate, uint32_t firmware, boost::asio::io_service& io);
00051 
00055             ~XV11Laser() {};
00056 
00061             void poll(sensor_msgs::LaserScan::Ptr scan);
00062 
00066             void close() { shutting_down_ = true; };
00067 
00068         private:
00069             std::string port_; 
00070             uint32_t baud_rate_; 
00071             uint32_t firmware_; 
00072 
00073             bool shutting_down_; 
00074             boost::asio::serial_port serial_; 
00075             uint16_t motor_speed_; 
00076     };
00077 };


xv_11_laser_driver
Author(s): Eric Perko, Chad Rockey, Rohan Agrawal, Steve 'dillo Okay
autogenerated on Fri Aug 28 2015 13:41:38