source: flair-dev/trunk/include/FlairSensorActuator/SimuLaser.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 years ago

formatting script + include reformatted

File size: 1.8 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file SimuUs.h
7 * \brief Class for a simulation UsRangeFinder
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/02/07
10 * \version 4.0
11 */
12
13#ifndef SIMULASER_H
14#define SIMULASER_H
15
16#include <LaserRangeFinder.h>
17#include <Thread.h>
18
19namespace flair {
20namespace core {
21class SharedMem;
22}
23namespace gui {
24class SpinBox;
25}
26}
27
28namespace flair {
29namespace sensor {
30/*! \class SimuUs
31*
32* \brief Class for a simulation UsRangeFinder
33*/
34class SimuLaser : public core::Thread, public LaserRangeFinder {
35public:
36  /*!
37  * \brief Constructor
38  *
39  * Construct a SimuUs. Control part.
40  *
41  * \param parent parent
42  * \param name name
43  * \param dev_id device id
44  * \param priority priority of the Thread
45  */
46  SimuLaser(const core::FrameworkManager *parent, std::string name,
47            uint32_t dev_id, uint8_t priority);
48
49  /*!
50  * \brief Constructor
51  *
52  * Construct a SimuUs. Simulation part.\n
53  * The Thread of this class should not be run.
54  *
55  * \param parent parent
56  * \param name name
57  * \param dev_id device id
58  */
59  SimuLaser(const core::IODevice *parent, std::string name, uint32_t dev_id);
60
61  /*!
62  * \brief Destructor
63  *
64  */
65  ~SimuLaser();
66
67protected:
68  /*!
69  * \brief SharedMem to access datas
70  *
71  */
72  core::SharedMem *shmem;
73
74private:
75  /*!
76  * \brief Update using provided datas
77  *
78  * Reimplemented from IODevice.
79  *
80  * \param data data from the parent to process
81  */
82  void UpdateFrom(const core::io_data *data){};
83
84  /*!
85  * \brief Run function
86  *
87  * Reimplemented from Thread.
88  *
89  */
90  void Run(void);
91
92  gui::SpinBox *data_rate;
93};
94} // end namespace sensor
95} // end namespace flair
96#endif // SIMULASER_H
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