microphone.h
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00001 /******************************************************************************
00002    STDR Simulator - Simple Two DImensional Robot Simulator
00003    Copyright (C) 2013 STDR Simulator
00004    This program is free software; you can redistribute it and/or modify
00005    it under the terms of the GNU General Public License as published by
00006    the Free Software Foundation; either version 3 of the License, or
00007    (at your option) any later version.
00008    This program is distributed in the hope that it will be useful,
00009    but WITHOUT ANY WARRANTY; without even the implied warranty of
00010    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011    GNU General Public License for more details.
00012    You should have received a copy of the GNU General Public License
00013    along with this program; if not, write to the Free Software Foundation,
00014    Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
00015    
00016    Authors : 
00017    * Manos Tsardoulias, etsardou@gmail.com
00018    * Aris Thallas, aris.thallas@gmail.com
00019    * Chris Zalidis, zalidis@gmail.com 
00020 ******************************************************************************/
00021 
00022 #ifndef MICROPHONE_SENSOR_H
00023 #define MICROPHONE_SENSOR_H
00024 
00025 #include <stdr_robot/sensors/sensor_base.h>
00026 #include <stdr_robot/sensors/helper.h>
00027 #include <stdr_msgs/SoundSensorMsg.h>
00028 #include <stdr_msgs/SoundSensorMeasurementMsg.h>
00029 #include <stdr_msgs/SoundSourceVector.h>
00030 
00035 namespace stdr_robot {
00036 
00042   class SoundSensor : public Sensor {
00043 
00044     public:
00054       SoundSensor(
00055         const nav_msgs::OccupancyGrid& map,
00056         const stdr_msgs::SoundSensorMsg& msg, 
00057         const std::string& name, 
00058         ros::NodeHandle& n);
00059       
00064       virtual void updateSensorCallback();
00065       
00070       ~SoundSensor(void);
00071       
00077       void receiveSoundSources(const stdr_msgs::SoundSourceVector& msg);
00078 
00079     private:
00080 
00082       stdr_msgs::SoundSensorMsg _description;
00083       
00085       ros::Subscriber sound_sources_subscriber_;
00086       
00088       stdr_msgs::SoundSourceVector sound_sources_;
00089   };
00090 
00091 }
00092 
00093 #endif


stdr_robot
Author(s): Manos Tsardoulias, Chris Zalidis, Aris Thallas
autogenerated on Wed Sep 2 2015 03:36:25