source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedLaser.h

Last change on this file was 286, checked in by Sanahuja Guillaume, 3 years ago

draw vrpn axis in simulator

File size: 1.6 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 SimulatedUs.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 SIMULATEDLASER_H
14#define SIMULATEDLASER_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 SimulatedUs
31*
32* \brief Class for a simulation UsRangeFinder
33*/
34class SimulatedLaser : public core::Thread, public LaserRangeFinder {
35public:
36 /*!
37 * \brief Constructor
38 *
39 * Construct a SimulatedUs.
40 *
41 * \param name name
42 * \param modelId Model id
43 * \param deviceId LaserRangeFinder id of the Model
44 * \param priority priority of the Thread
45 */
46 SimulatedLaser(std::string name,
47 uint32_t modelId,uint32_t deviceId, uint8_t priority);
48
49 /*!
50 * \brief Destructor
51 *
52 */
53 ~SimulatedLaser();
54
55protected:
56 /*!
57 * \brief SharedMem to access datas
58 *
59 */
60 core::SharedMem *shmem;
61
62private:
63 /*!
64 * \brief Update using provided datas
65 *
66 * Reimplemented from IODevice.
67 *
68 * \param data data from the parent to process
69 */
70 void UpdateFrom(const core::io_data *data){};
71
72 /*!
73 * \brief Run function
74 *
75 * Reimplemented from Thread.
76 *
77 */
78 void Run(void);
79
80 std::string ShMemName(uint32_t modelId,uint32_t deviceId);
81 gui::SpinBox *data_rate;
82};
83} // end namespace sensor
84} // end namespace flair
85#endif // SIMULATEDLASER_H
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