lasertransform.h
1/*
2 * Player - One Hell of a Robot Server
3 * Copyright (C) 2000 Brian Gerkey & Kasper Stoy
4 * gerkey@usc.edu kaspers@robotics.usc.edu
5 *
6 * This program is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 *
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
19 *
20 */
22//
23// Desc: Base class for laser transformations (i.e. cspace etc)
24// Author: Andrew Howard
25// Date: 1 Sep 2002
26// CVS: $Id$
27//
28// Theory of operation -
29//
30// Requires - Laser device.
31//
33
34
35
36#include <errno.h>
37#include <string.h>
38#include <math.h>
39#include <stdlib.h> // for atoi(3)
40#if !defined (WIN32)
41 #include <unistd.h>
42#endif
43
44#include <libplayercore/playercore.h>
45
46// Driver for computing the free c-space from a laser scan.
47class LaserTransform : public Driver
48{
49 // Constructor
50 public: LaserTransform( ConfigFile* cf, int section);
51
52 // MessageHandler
53 public: virtual int ProcessMessage(QueuePointer & resp_queue,
54 player_msghdr * hdr,
55 void * data);
56
57 // Setup/shutdown routines.
58 public: virtual int Setup();
59 public: virtual int Shutdown();
60
61 protected:
62 // Process laser data. Returns non-zero if the laser data has been
63 // updated.
64 virtual int UpdateLaser(player_laser_data_t * data) = 0;
65
66 // Process requests. Returns 1 if the configuration has changed.
67 int HandleRequests();
68
69 // Handle geometry requests.
70 void HandleGetGeom(void *client, void *req, int reqlen);
71
72 // Laser stuff.
73 Device *laser_device;
74 player_devaddr_t laser_addr;
75 struct timeval laser_timestamp;
76
77 // Fiducila stuff (the data we generate).
78 player_laser_data_t data;
79 struct timeval time;
80};
81
Class for loading configuration file information.
Definition configfile.h:197
Encapsulates a device (i.e., a driver bound to an interface)
Definition device.h:75
Base class for all drivers.
Definition driver.h:109
Definition lasertransform.h:48
virtual int Shutdown()
Finalize the driver.
Definition lasertransform.cc:76
virtual int Setup()
Initialize the driver.
Definition lasertransform.cc:52
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition lasertransform.cc:86
An autopointer for the message queue.
Definition message.h:74
A device address.
Definition player.h:146
Generic message header.
Definition player.h:162