source: flair-src/trunk/lib/FlairSensorActuator/src/SimuLaser.h@ 122

Last change on this file since 122 was 15, checked in by Bayard Gildas, 6 years ago

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[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]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
[15]19namespace flair {
20namespace core {
21class SharedMem;
[3]22}
[15]23namespace gui {
24class SpinBox;
25}
26}
[3]27
[15]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);
[3]48
[15]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);
[3]60
[15]61 /*!
62 * \brief Destructor
63 *
64 */
65 ~SimuLaser();
[3]66
[15]67protected:
68 /*!
69 * \brief SharedMem to access datas
70 *
71 */
72 core::SharedMem *shmem;
[3]73
[15]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){};
[3]83
[15]84 /*!
85 * \brief Run function
86 *
87 * Reimplemented from Thread.
88 *
89 */
90 void Run(void);
[3]91
[15]92 gui::SpinBox *data_rate;
93};
[3]94} // end namespace sensor
95} // end namespace flair
96#endif // SIMULASER_H
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