laser.hpp

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/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef LASER_CONVERTER_HPP
#define LASER_CONVERTER_HPP

/*
* LOCAL includes
*/
#include "converter_base.hpp"
#include <naoqi_driver/message_actions.h>

/*
* ROS includes
*/
#include <sensor_msgs/LaserScan.h>

namespace naoqi
{
namespace converter
{

class LaserConverter : public BaseConverter<LaserConverter>
{

  typedef boost::function<void(sensor_msgs::LaserScan&)> Callback_t;

public:
  LaserConverter( const std::string& name, const float& frequency, const qi::SessionPtr& session );

  void registerCallback( message_actions::MessageAction action, Callback_t cb );

  void callAll( const std::vector<message_actions::MessageAction>& actions );

  void reset( );

  void setLaserRanges(const float &range_min, const float &range_max);

private:

  qi::AnyObject p_memory_;
  float range_min_;
  float range_max_;

  std::map<message_actions::MessageAction, Callback_t> callbacks_;
  sensor_msgs::LaserScan msg_;
}; // class

} //publisher
} // naoqi

#endif