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 |