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phSonarData.h

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00001 #ifndef PHSONARDATA_H
00002 #define PHSONARDATA_H
00003 
00004 #include <stdint.h>
00005 #include <phLiveObject.h>
00006 
00007 /* ------------------------------------------------------------------------ */
00008 class phSonarData : public phLiveObject
00009 {
00010 private:
00011     /* [PLAYERC_SONAR_MAX_SAMPLES][3] ); */
00012     int32_t     m_pose_count;
00013     int32_t     m_pose_dims;
00014     double      *m_pose;
00015     uint32_t    m_pose_size;
00016     
00017     int32_t     m_scan_count;
00018     double      *m_scan;
00019     uint32_t    m_scan_size;
00020 
00021 public:
00022     phSonarData();
00023 
00024     int copy( phObject *copyto_obj);
00025     int swap( phObject *obj);
00026 
00027     int copyData( phSonarData &copyfrom );
00028     int swapData( phSonarData &data );
00029 
00030     int reset();
00031 
00032     int set(int32_t     pose_count,
00033             int32_t     pose_dims,
00034             double      *pose,
00035             int32_t     scan_count,
00036             double      *scan );
00037 
00038     int get(int32_t     *pose_count,
00039             int32_t     *pose_dims,
00040             double      *pose_array,
00041             int32_t     *scan_count,
00042             double      *scan_array);
00043 
00044     int getPoseArray( double *pose );
00045     int getScanArray( double *scan );
00046 
00047     int32_t getPoseCount();
00048     int32_t getPoseDimensions();
00049     int32_t getScanCount();
00050 
00051     double getPose( int32_t pose_id, int32_t pose_dim );
00052     double getScan( int32_t scan_id );
00053 
00054     void print_data( );
00055 };
00056 
00057 #endif /* PHSONARDATA_H */




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