00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _zyonz_tof_color_driver_h_ 00026 #define _zyonz_tof_color_driver_h_ 00027 00028 #include <iri_base_driver/iri_base_driver.h> 00029 #include <zyonz_tof_color/ZyonzTofColorConfig.h> 00030 00031 //include zyonz_tof_color_driver main library 00032 00052 class ZyonzTofColorDriver : public iri_base_driver::IriBaseDriver 00053 { 00054 private: 00055 // private attributes and methods 00056 00057 public: 00064 typedef zyonz_tof_color::ZyonzTofColorConfig Config; 00065 00072 Config config_; 00073 00082 ZyonzTofColorDriver(); 00083 00094 bool openDriver(void); 00095 00106 bool closeDriver(void); 00107 00118 bool startDriver(void); 00119 00130 bool stopDriver(void); 00131 00143 void config_update(const Config& new_cfg, uint32_t level=0); 00144 00145 // here define all zyonz_tof_color_driver interface methods to retrieve and set 00146 // the driver parameters 00147 00154 ~ZyonzTofColorDriver(); 00155 }; 00156 00157 #endif