Program Listing for File OS1_sensor.hpp
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// Copyright 2020, Steve Macenski
// 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 ROS2_OUSTER__OS1__OS1_SENSOR_HPP_
#define ROS2_OUSTER__OS1__OS1_SENSOR_HPP_
#include <memory>
#include <vector>
#include "ros2_ouster/OS1/processor_factories.hpp"
#include "ros2_ouster/interfaces/data_processor_interface.hpp"
#include "ros2_ouster/interfaces/sensor_interface.hpp"
#include "ros2_ouster/OS1/OS1.hpp"
namespace OS1
{
class OS1Sensor : public ros2_ouster::SensorInterface
{
public:
OS1Sensor();
~OS1Sensor() override;
void reset(const ros2_ouster::Configuration & config) override;
void configure(const ros2_ouster::Configuration & config) override;
ros2_ouster::Metadata getMetadata() override;
ros2_ouster::ClientState get() override;
uint8_t * readPacket(const ros2_ouster::ClientState & state) override;
private:
std::shared_ptr<client> _ouster_client;
std::vector<uint8_t> _lidar_packet;
std::vector<uint8_t> _imu_packet;
};
} // namespace OS1
#endif // ROS2_OUSTER__OS1__OS1_SENSOR_HPP_