Fawkes API  Fawkes Development Version
urg_gbx_aqt.h
00001 
00002 /***************************************************************************
00003  *  urg_gbx_aqt.h - Thread for Hokuyo URG using the Gearbox library
00004  *
00005  *  Created: Fri Dec 04 20:30:08 2009 (at Frankfurt Airport)
00006  *  Copyright  2008-2009  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_LASER_URG_GBX_AQT_H_
00024 #define __PLUGINS_LASER_URG_GBX_AQT_H_
00025 
00026 #include "acquisition_thread.h"
00027 
00028 #include <string>
00029 #include <map>
00030 
00031 #ifdef HAVE_URG_GBX_9_11
00032 namespace hokuyo_aist {
00033   class HokuyoLaser;
00034   class HokuyoData;
00035 }
00036 #else
00037 namespace hokuyoaist {
00038   class Sensor;
00039   class ScanData;
00040 }
00041 #endif
00042 
00043 class HokuyoUrgGbxAcquisitionThread : public LaserAcquisitionThread
00044 {
00045  public:
00046   HokuyoUrgGbxAcquisitionThread(std::string &cfg_name, std::string &cfg_prefix);
00047 
00048   // from LaserAcquisitionThread
00049   virtual void pre_init(fawkes::Configuration *config, fawkes::Logger *logger);
00050 
00051   virtual void init();
00052   virtual void finalize();
00053   virtual void loop();
00054 
00055  private:
00056   bool __pre_init_done;
00057   unsigned int __number_of_values;
00058 #ifdef HAVE_URG_GBX_9_11
00059   hokuyo_aist::HokuyoLaser *__laser;
00060   hokuyo_aist::HokuyoData  *__data;
00061 #else
00062   hokuyoaist::Sensor *__laser;
00063   hokuyoaist::ScanData  *__data;
00064 #endif
00065 
00066   std::string  __cfg_name;
00067   std::string  __cfg_prefix;
00068 
00069   std::map<std::string, std::string> __device_info;
00070 
00071   std::string  __cfg_device;
00072 
00073   unsigned int __first_ray;
00074   unsigned int __last_ray;
00075   unsigned int __front_ray;
00076   unsigned int __front_idx;
00077   unsigned int __num_rays;
00078   unsigned int __slit_division;
00079   float        __step_per_angle;
00080   float        __angle_per_step;
00081   float        __angular_range;
00082 };
00083 
00084 
00085 #endif