/usr/include/Aria/ArSimulatedLaser.h is in libaria-dev 2.8.0+repack-1ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARSIMULATEDLASER_H
#define ARSIMULATEDLASER_H
#include "ariaTypedefs.h"
#include "ArLaser.h"
class ArRobot;
class ArRobotPacket;
/**
This class is a subclass of ArRangeDeviceThreaded meant for any
planar scanning lasers, like the SICK lasers, Hokoyo URG series
lasers, etc. Unlike most base classes this contains the superset
of everything that may need to be configured on any of the sensors,
this is so that the configuration and parameter files don't have to
deal with anything sensor specific.
To see the different things you can set on a laser, call the
functions canSetDegrees, canChooseRange, canSetIncrement,
canChooseIncrement, canChooseUnits, canChooseReflectorBits,
canSetPowerControlled, canChooseStartBaud, and canChooseAutoBaud to
see what is available (the help for each of those tells you what
functions they are associated with, and for each function
associated with one of those it tells you to see the associated
function).
@since 2.7.0
**/
class ArSimulatedLaser : public ArLaser
{
public:
/// Constructor
AREXPORT ArSimulatedLaser(ArLaser *laser);
/// Destructor
AREXPORT virtual ~ArSimulatedLaser();
AREXPORT virtual bool blockingConnect(void);
AREXPORT virtual bool asyncConnect(void);
AREXPORT virtual bool disconnect(void);
AREXPORT virtual bool isConnected(void)
{ return myIsConnected; }
AREXPORT virtual bool isTryingToConnect(void)
{
if (myStartConnect)
return true;
else if (myTryingToConnect)
return true;
else
return false;
}
protected:
AREXPORT virtual void * runThread(void *arg);
AREXPORT virtual bool laserCheckParams(void);
AREXPORT bool finishParams(void);
AREXPORT bool simPacketHandler(ArRobotPacket *packet);
ArLaser *myLaser;
double mySimBegin;
double mySimEnd;
double mySimIncrement;
// stuff for the sim packet
ArPose mySimPacketStart;
ArTransform mySimPacketTrans;
ArTransform mySimPacketEncoderTrans;
unsigned int mySimPacketCounter;
unsigned int myWhichReading;
unsigned int myTotalNumReadings;
bool myStartConnect;
bool myIsConnected;
bool myTryingToConnect;
bool myReceivedData;
std::list<ArSensorReading *>::iterator myIter;
// range buffers to hold current range set and assembling range set
std::list<ArSensorReading *> *myAssembleReadings;
std::list<ArSensorReading *> *myCurrentReadings;
ArRetFunctor1C<bool, ArSimulatedLaser, ArRobotPacket *> mySimPacketHandler;
};
#endif // ARSIMULATEDLASER_H
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