23 #ifndef __PLUGINS_LASER_URG_GBX_AQT_H_
24 #define __PLUGINS_LASER_URG_GBX_AQT_H_
26 #include "acquisition_thread.h"
31 #ifdef HAVE_URG_GBX_9_11
32 namespace hokuyo_aist {
37 namespace hokuyoaist {
57 unsigned int __number_of_values;
58 #ifdef HAVE_URG_GBX_9_11
59 hokuyo_aist::HokuyoLaser *__laser;
60 hokuyo_aist::HokuyoData *__data;
62 hokuyoaist::Sensor *__laser;
63 hokuyoaist::ScanData *__data;
66 std::string __cfg_name;
67 std::string __cfg_prefix;
69 std::map<std::string, std::string> __device_info;
71 std::string __cfg_device;
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;
HokuyoUrgGbxAcquisitionThread(std::string &cfg_name, std::string &cfg_prefix)
Constructor.
virtual void pre_init(fawkes::Configuration *config, fawkes::Logger *logger)
Pre initialization.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
Logger * logger
This is the Logger member used to access the logger.
Laser acqusition thread for Hokuyo URG laser range finders.
virtual void init()
Initialize the thread.
Configuration * config
This is the Configuration member used to access the configuration.
Interface for configuration handling.