source: flair-dev/trunk/include/FlairSensorActuator/LaserRangeFinder.h@ 6

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file LaserRangeFinder.h
 * \brief Classe generique des telemetres laser
 * \author César RICHARD, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/07/22
 * \version 1.0
 */

#ifndef LASERRANGEFINDER_H
#define LASERRANGEFINDER_H

#include <IODevice.h>

namespace flair
{
    namespace core
    {
        class FrameworkManager;
        class cvmatrix;

    }
    namespace gui
    {
        class Tab;
        class TabWidget;
        class GroupBox;
        class Layout;
        class RangeFinderPlot;
    }
}

namespace flair
{
namespace sensor
{
    /*! \class LaserRangeFinder
    *
    * \brief Classe generique intégrant les telemetres laser
    */
    class LaserRangeFinder : public core::IODevice
    {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a Laser Range Finder.
            *
            * \param parent parent
            * \param name name
            */
            LaserRangeFinder(const core::FrameworkManager* parent,std::string name);
            /*!
            * \brief Constructor
            *
            * Construct a UsRangeFinder. Simulation part.
            *
            * \param parent parent
            * \param name name
            */
            LaserRangeFinder(const core::IODevice* parent,std::string name);
            /*!
            * \brief Destructor
            *
            */
            ~LaserRangeFinder();

            /*!
            * \brief Use default plot
            *
            */
            void UseDefaultPlot(void);

            /*!
            * \brief Plot
            *
            * \return DataPlot1D
            */
            gui::RangeFinderPlot* GetPlot(void) const;

            /*!
            * \brief Setup Layout
            *
            * \return a Layout available
            */
            gui::Layout* GetLayout(void) const;

            /*!
            * \brief Plot tab
            *
            * \return plot Tab
            */
            gui::Tab* GetPlotTab(void) const;

            /*!
            * \brief Value
            *
            * \return output value
            */
            float Value(void) const;

        protected:
        /*!
            * \brief Output matrix
            *
            * \return output matrix
            */
            core::cvmatrix *output;

            /*!
            * \brief Setup GroupBox
            *
            * \return a GroupBox available
            */
            gui::GroupBox* GetGroupBox(void) const;

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data){};

            gui::Tab* main_tab;
            gui::TabWidget *tab;
            gui::GroupBox* setup_groupbox;
            gui::Tab* sensor_tab;
            gui::RangeFinderPlot* plot;
            gui::Tab* plot_tab;

    };
} // end namespace sensor
} // end namespace framewor
#endif // LASERRANGEFINDER_H