sonar.hpp
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00001 /*
00002  * Copyright 2015 Aldebaran
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 
00018 #ifndef SONAR_CONVERTER_HPP
00019 #define SONAR_CONVERTER_HPP
00020 
00021 /*
00022 * LOCAL includes
00023 */
00024 #include "converter_base.hpp"
00025 #include <naoqi_driver/message_actions.h>
00026 
00027 /*
00028 * ROS includes
00029 */
00030 #include <sensor_msgs/Range.h>
00031 
00032 namespace naoqi
00033 {
00034 namespace converter
00035 {
00036 
00037 class SonarConverter : public BaseConverter<SonarConverter>
00038 {
00039 
00040   typedef boost::function<void(std::vector<sensor_msgs::Range>&)> Callback_t;
00041 
00042 
00043 public:
00044   SonarConverter( const std::string& name, const float& frequency, const qi::SessionPtr& session );
00045 
00046   ~SonarConverter();
00047 
00048   void reset( );
00049 
00050   void registerCallback( message_actions::MessageAction action, Callback_t cb );
00051 
00052   void callAll( const std::vector<message_actions::MessageAction>& actions );
00053 
00054 
00055 private:
00056   std::map<message_actions::MessageAction, Callback_t> callbacks_;
00057 
00059   qi::AnyObject p_sonar_;
00061   qi::AnyObject p_memory_;
00063   bool is_subscribed_;
00064 
00066   std::vector<std::string> keys_;
00068   std::vector<std::string> frames_;
00070   std::vector<sensor_msgs::Range> msgs_;
00071 };
00072 
00073 } //publisher
00074 } //naoqi
00075 
00076 #endif


naoqi_driver
Author(s): Karsten Knese
autogenerated on Sun Sep 17 2017 02:57:14