00001 /* 00002 * Copyright 2015 Aldebaran 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 * 00016 */ 00017 00018 #ifndef LASER_CONVERTER_HPP 00019 #define LASER_CONVERTER_HPP 00020 00021 /* 00022 * LOCAL includes 00023 */ 00024 #include "converter_base.hpp" 00025 #include <naoqi_driver/message_actions.h> 00026 00027 /* 00028 * ROS includes 00029 */ 00030 #include <sensor_msgs/LaserScan.h> 00031 00032 namespace naoqi 00033 { 00034 namespace converter 00035 { 00036 00037 class LaserConverter : public BaseConverter<LaserConverter> 00038 { 00039 00040 typedef boost::function<void(sensor_msgs::LaserScan&)> Callback_t; 00041 00042 public: 00043 LaserConverter( const std::string& name, const float& frequency, const qi::SessionPtr& session ); 00044 00045 void registerCallback( message_actions::MessageAction action, Callback_t cb ); 00046 00047 void callAll( const std::vector<message_actions::MessageAction>& actions ); 00048 00049 void reset( ); 00050 00051 private: 00052 00053 qi::AnyObject p_memory_; 00054 00055 std::map<message_actions::MessageAction, Callback_t> callbacks_; 00056 sensor_msgs::LaserScan msg_; 00057 }; // class 00058 00059 } //publisher 00060 } // naoqi 00061 00062 #endif