urg_gbx_aqt.h
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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 namespace hokuyo_aist {
00032 class HokuyoLaser;
00033 class HokuyoData;
00034 }
00035
00036 class HokuyoUrgGbxAcquisitionThread : public LaserAcquisitionThread
00037 {
00038 public:
00039 HokuyoUrgGbxAcquisitionThread(std::string &cfg_name, std::string &cfg_prefix);
00040
00041
00042 virtual void pre_init(fawkes::Configuration *config, fawkes::Logger *logger);
00043
00044 virtual void init();
00045 virtual void finalize();
00046 virtual void loop();
00047
00048 private:
00049 bool __pre_init_done;
00050 unsigned int __number_of_values;
00051 hokuyo_aist::HokuyoLaser *__laser;
00052 hokuyo_aist::HokuyoData *__data;
00053
00054 std::string __cfg_name;
00055 std::string __cfg_prefix;
00056
00057 std::map<std::string, std::string> __device_info;
00058
00059 std::string __cfg_device;
00060
00061 unsigned int __first_ray;
00062 unsigned int __last_ray;
00063 unsigned int __front_ray;
00064 unsigned int __front_idx;
00065 unsigned int __num_rays;
00066 unsigned int __slit_division;
00067 float __step_per_angle;
00068 float __angle_per_step;
00069 float __angular_range;
00070 };
00071
00072
00073 #endif