00001 /****************************************************************************** 00002 STDR Simulator - Simple Two DImensional Robot Simulator 00003 Copyright (C) 2013 STDR Simulator 00004 This program is free software; you can redistribute it and/or modify 00005 it under the terms of the GNU General Public License as published by 00006 the Free Software Foundation; either version 3 of the License, or 00007 (at your option) any later version. 00008 This program 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 You should have received a copy of the GNU General Public License 00013 along with this program; if not, write to the Free Software Foundation, 00014 Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 00015 00016 Authors : 00017 * Manos Tsardoulias, etsardou@gmail.com 00018 * Aris Thallas, aris.thallas@gmail.com 00019 * Chris Zalidis, zalidis@gmail.com 00020 ******************************************************************************/ 00021 00022 #ifndef LASER_H 00023 #define LASER_H 00024 00025 #include <stdr_robot/sensors/sensor_base.h> 00026 #include <sensor_msgs/LaserScan.h> 00027 #include <stdr_msgs/LaserSensorMsg.h> 00028 00033 namespace stdr_robot { 00034 00039 class Laser : public Sensor { 00040 00041 public: 00042 00051 Laser(const nav_msgs::OccupancyGrid& map, 00052 const stdr_msgs::LaserSensorMsg& msg, 00053 const std::string& name, 00054 ros::NodeHandle& n); 00055 00060 virtual void updateSensorCallback(); 00061 00066 ~Laser() {} 00067 00068 private: 00069 00071 stdr_msgs::LaserSensorMsg _description; 00072 }; 00073 00074 } 00075 00076 #endif