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phPlayerSonar.h

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00001 #ifndef PHPLAYERSONAR_H
00002 #define PHPLAYERSONAR_H
00003 
00004 #include <phPlayerDevice.h>
00005 #include <phSonarData.h>
00006 
00007 typedef struct ph_player_sonar_t *ph_player_sonar;
00008 
00009 /* ------------------------------------------------------------------------ */
00010 class phPlayerSonar : public phPlayerDevice
00011 {
00012 private:
00013     ph_player_sonar     m_sonar;
00014 
00015     phSonarData         *m_data;
00016 
00017 public:
00018     phPlayerSonar    ( );
00019     phPlayerSonar    ( int index, phPlayerClient *client );
00020     ~phPlayerSonar   ( );
00021     
00022     int set         ( int index, phPlayerClient *client );
00023     
00024     int subscribe   ( int access, int index, phPlayerClient *client);
00025     int subscribe   ( int access  = phMODE_READ);
00026     int unsubscribe ();
00027 
00028     int getGeometry ();
00029 
00030     int getData( phSonarData &data );
00031    
00032     void            *getId();
00033     int             updateData();
00034 };
00035 
00036 #endif /* PHPLAYERSONAR_H */




Copyright (C) 2002 - 2007 Philip D.S. Thoren ( pthoren@users.sourceforge.net )
University Of Massachusetts at Lowell
Robotics Lab
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