scan_and_cloud_parser.h

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/*
 * Copyright (C) 2017, Osnabrück University
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Osnabrück University nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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 *
 *      Author: Sebastian Pütz <spuetz@uos.de>
 *
 */

#ifndef SCAN_AND_CLOUD_PARSER_H_
#define SCAN_AND_CLOUD_PARSER_H_

#include "sick_tim/abstract_parser.h"
#include <sensor_msgs/PointCloud2.h>

namespace sick_tim
{


class ScanAndCloudParser : public AbstractParser
{
public:
  ScanAndCloudParser();
  virtual ~ScanAndCloudParser();

  virtual int parse_datagram(char* datagram, size_t datagram_length, SickTimConfig &config,
                             sensor_msgs::LaserScan &scan, sensor_msgs::PointCloud2 &cloud) = 0;

  virtual int parse_datagram(char* datagram, size_t datagram_length, SickTimConfig &config,
                             sensor_msgs::LaserScan &msg);

};

} /* namespace sick_tim */
#endif /* SCAN_AND_CLOUD_PARSER_H_ */