xv11_laser.h

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#include <sensor_msgs/LaserScan.h>
#include <boost/asio.hpp>
#include <boost/array.hpp>
#include <string>
 
namespace xv_11_laser_driver {
    class XV11Laser {
        public:
              uint16_t rpms; 
 
            XV11Laser(const std::string& port, uint32_t baud_rate, uint32_t firmware, boost::asio::io_service& io);
 
            ~XV11Laser() {};
 
            void poll(sensor_msgs::LaserScan::Ptr scan);
 
            void close() { shutting_down_ = true; };
 
        private:
            std::string port_; 
            uint32_t baud_rate_; 
            uint32_t firmware_; 
 
            bool shutting_down_; 
            boost::asio::serial_port serial_; 
            uint16_t motor_speed_; 
    };
};