65 lines
2.4 KiB
C
65 lines
2.4 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARLASERREFLECTORDEVICE_H
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#define ARLASERREFLECTORDEVICE_H
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#include "ariaTypedefs.h"
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#include "ArRangeDevice.h"
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#include "ArFunctor.h"
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class ArSick;
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class ArRobot;
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/// A class for keeping track of laser reflectors that we see right now
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/**
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This class is for showing the laser reflectors in MobileEyes.
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This requires that the range device you pass in uses the
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'extraInt' in the rawReadings ArSensorReading to note reflector
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value and that anything greater than 0 is a reflector.
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*/
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class ArLaserReflectorDevice : public ArRangeDevice
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{
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public:
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/// Constructor
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AREXPORT ArLaserReflectorDevice(ArRangeDevice *laser, ArRobot *robot,
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const char * name = "reflector");
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/// Destructor
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AREXPORT virtual ~ArLaserReflectorDevice();
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/// Grabs the new readings from the robot and adds them to the buffers
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AREXPORT void processReadings(void);
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/// Specifically does nothing since it was done in the constructor
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AREXPORT virtual void setRobot(ArRobot *robot);
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/// Adds a reflector threshold to the task
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AREXPORT void addToConfig(ArConfig *config, const char *section);
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protected:
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ArRangeDevice *myLaser;
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int myReflectanceThreshold;
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ArFunctorC<ArLaserReflectorDevice> myProcessCB;
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};
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#endif // ARLASERREFLECTORDEVICE_H
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