crsm_laser.h

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/*
 *      This file is part of CrsmSlam.
    CrsmSlam is free software: you can redistribute it and/or modify 
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    CrsmSlam is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with CrsmSlam.  If not, see <http://www.gnu.org/licenses/>.
* 
* Author : Manos Tsardoulias, etsardou@gmail.com
* Organization : AUTH, PANDORA Robotics Team
* */

#ifndef CRSM_LASER_HEADER
#define CRSM_LASER_HEADER

#include <vector>
#include "ros/ros.h"

#include <sensor_msgs/LaserScan.h>

#include "crsm_laserInfo.h"
#include "crsm_laserScan.h"

namespace crsm_slam{
        class CrsmLaser{
        public:
                bool initialized;                               

                CrsmLaserInfo info;                             
                CrsmLaserScan scan;                             
                std::vector<float> angles;              
                
                CrsmLaser(void);
                
                void initialize(const sensor_msgs::LaserScanConstPtr& msg);
        };

}

#endif