00001 /* 00002 * This file is part of CrsmSlam. 00003 CrsmSlam is free software: you can redistribute it and/or modify 00004 it under the terms of the GNU General Public License as published by 00005 the Free Software Foundation, either version 3 of the License, or 00006 (at your option) any later version. 00007 00008 CrsmSlam is distributed in the hope that it will be useful, 00009 but WITHOUT ANY WARRANTY; without even the implied warranty of 00010 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00011 GNU General Public License for more details. 00012 00013 You should have received a copy of the GNU General Public License 00014 along with CrsmSlam. If not, see <http://www.gnu.org/licenses/>. 00015 * 00016 * Author : Manos Tsardoulias, etsardou@gmail.com 00017 * Organization : AUTH, PANDORA Robotics Team 00018 * */ 00019 00020 #ifndef CRSM_LASER_HEADER 00021 #define CRSM_LASER_HEADER 00022 00023 #include <vector> 00024 #include "ros/ros.h" 00025 00026 #include <sensor_msgs/LaserScan.h> 00027 00028 #include "crsm_laserInfo.h" 00029 #include "crsm_laserScan.h" 00030 00031 namespace crsm_slam{ 00036 class CrsmLaser{ 00037 public: 00038 bool initialized; 00039 00040 CrsmLaserInfo info; 00041 CrsmLaserScan scan; 00042 std::vector<float> angles; 00043 00047 CrsmLaser(void); 00048 00054 void initialize(const sensor_msgs::LaserScanConstPtr& msg); 00055 }; 00056 00057 } 00058 00059 #endif