Fawkes API Fawkes Development Version
urg_gbx_aqt.h
1
2/***************************************************************************
3 * urg_gbx_aqt.h - Thread for Hokuyo URG using the Gearbox library
4 *
5 * Created: Fri Dec 04 20:30:08 2009 (at Frankfurt Airport)
6 * Copyright 2008-2009 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_LASER_URG_GBX_AQT_H_
24#define _PLUGINS_LASER_URG_GBX_AQT_H_
25
26#include "acquisition_thread.h"
27
28#include <map>
29#include <string>
30
31#ifdef HAVE_URG_GBX_9_11
32namespace hokuyo_aist {
33class HokuyoLaser;
34class HokuyoData;
35} // namespace hokuyo_aist
36#else
37namespace hokuyoaist {
38class Sensor;
39class ScanData;
40} // namespace hokuyoaist
41#endif
42
44{
45public:
46 HokuyoUrgGbxAcquisitionThread(std::string &cfg_name, std::string &cfg_prefix);
47
48 // from LaserAcquisitionThread
50
51 virtual void init();
52 virtual void finalize();
53 virtual void loop();
54
55private:
56 bool pre_init_done_;
57 unsigned int number_of_values_;
58#ifdef HAVE_URG_GBX_9_11
59 hokuyo_aist::HokuyoLaser *laser_;
60 hokuyo_aist::HokuyoData * data_;
61#else
62 hokuyoaist::Sensor * laser_;
63 hokuyoaist::ScanData *data_;
64#endif
65
66 std::string cfg_name_;
67 std::string cfg_prefix_;
68
69 std::map<std::string, std::string> device_info_;
70
71 std::string cfg_device_;
72
73 unsigned int first_ray_;
74 unsigned int last_ray_;
75 unsigned int front_ray_;
76 unsigned int front_idx_;
77 unsigned int num_rays_;
78 unsigned int slit_division_;
79 float step_per_angle_;
80 float angle_per_step_;
81 float angular_range_;
82};
83
84#endif
Laser acqusition thread for Hokuyo URG laser range finders.
Definition: urg_gbx_aqt.h:44
HokuyoUrgGbxAcquisitionThread(std::string &cfg_name, std::string &cfg_prefix)
Constructor.
Definition: urg_gbx_aqt.cpp:58
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
Definition: urg_gbx_aqt.cpp:80
virtual void pre_init(fawkes::Configuration *config, fawkes::Logger *logger)
Pre initialization.
Definition: urg_gbx_aqt.cpp:69
Laser acqusition thread.
Configuration * config
This is the Configuration member used to access the configuration.
Definition: configurable.h:41
Interface for configuration handling.
Definition: config.h:68
Interface for logging.
Definition: logger.h:42
Logger * logger
This is the Logger member used to access the logger.
Definition: logging.h:41