<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; 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you can redistribute it and/or modify</span> <a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span> <a name="l00010"></a>00010 <span class="comment"> *</span> <a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00015"></a>00015 <span class="comment"> *</span> <a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00019"></a>00019 <span class="comment"> *</span> <a name="l00020"></a>00020 <span class="comment"> */</span> <a name="l00022"></a>00022 <span class="comment">//</span> <a name="l00023"></a>00023 <span class="comment">// Desc: Base class for laser transformations (i.e. cspace etc)</span> <a name="l00024"></a>00024 <span class="comment">// Author: Andrew Howard</span> <a name="l00025"></a>00025 <span class="comment">// Date: 1 Sep 2002</span> <a name="l00026"></a>00026 <span class="comment">// CVS: $Id: lasertransform.h 8003 2009-07-13 10:34:37Z thjc $</span> <a name="l00027"></a>00027 <span class="comment">//</span> <a name="l00028"></a>00028 <span class="comment">// Theory of operation - </span> <a name="l00029"></a>00029 <span class="comment">//</span> <a name="l00030"></a>00030 <span class="comment">// Requires - Laser device.</span> <a name="l00031"></a>00031 <span class="comment">//</span> <a name="l00033"></a>00033 <span class="comment"></span> <a name="l00034"></a>00034 <a name="l00035"></a>00035 <a name="l00036"></a>00036 <span class="preprocessor">#include <errno.h></span> <a name="l00037"></a>00037 <span class="preprocessor">#include <string.h></span> <a name="l00038"></a>00038 <span class="preprocessor">#include <math.h></span> <a name="l00039"></a>00039 <span class="preprocessor">#include <stdlib.h></span> <span class="comment">// for atoi(3)</span> <a name="l00040"></a>00040 <span class="preprocessor">#if !defined (WIN32)</span> <a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor"> #include <unistd.h></span> <a name="l00042"></a>00042 <span class="preprocessor">#endif</span> <a name="l00043"></a>00043 <span class="preprocessor"></span> <a name="l00044"></a>00044 <span class="preprocessor">#include <libplayercore/playercore.h></span> <a name="l00045"></a>00045 <a name="l00046"></a>00046 <span class="comment">// Driver for computing the free c-space from a laser scan.</span> <a name="l00047"></a><a class="code" href="classLaserTransform.html">00047</a> <span class="keyword">class </span><a class="code" href="classLaserTransform.html">LaserTransform</a> : <span class="keyword">public</span> <a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a> <a name="l00048"></a>00048 { <a name="l00049"></a>00049 <span class="comment">// Constructor</span> <a name="l00050"></a>00050 <span class="keyword">public</span>: <a class="code" href="classLaserTransform.html">LaserTransform</a>( <a class="code" href="classConfigFile.html" title="Class for loading configuration file information.">ConfigFile</a>* cf, <span class="keywordtype">int</span> section); <a name="l00051"></a>00051 <a name="l00052"></a>00052 <span class="comment">// MessageHandler</span> <a name="l00053"></a>00053 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classLaserTransform.html#ad85a020e370ec75e3977bed61a0624f7" title="Message handler.">ProcessMessage</a>(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> & resp_queue, <a name="l00054"></a>00054 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <a name="l00055"></a>00055 <span class="keywordtype">void</span> * data); <a name="l00056"></a>00056 <a name="l00057"></a>00057 <span class="comment">// Setup/shutdown routines.</span> <a name="l00058"></a>00058 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classLaserTransform.html#aa3c5273497a2e440f689b9e5dced38b3" title="Initialize the driver.">Setup</a>(); <a name="l00059"></a>00059 <span class="keyword">public</span>: <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classLaserTransform.html#a069f34add7646ae39ce850dbd06c6cc7" title="Finalize the driver.">Shutdown</a>(); <a name="l00060"></a>00060 <a name="l00061"></a>00061 <span class="keyword">protected</span>: <a name="l00062"></a>00062 <span class="comment">// Process laser data. Returns non-zero if the laser data has been</span> <a name="l00063"></a>00063 <span class="comment">// updated.</span> <a name="l00064"></a>00064 <span class="keyword">virtual</span> <span class="keywordtype">int</span> UpdateLaser(<a class="code" href="structplayer__laser__data.html" title="Data: scan (PLAYER_LASER_DATA_SCAN).">player_laser_data_t</a> * data) = 0; <a name="l00065"></a>00065 <a name="l00066"></a>00066 <span class="comment">// Process requests. Returns 1 if the configuration has changed.</span> <a name="l00067"></a>00067 <span class="keywordtype">int</span> HandleRequests(); <a name="l00068"></a>00068 <a name="l00069"></a>00069 <span class="comment">// Handle geometry requests.</span> <a name="l00070"></a>00070 <span class="keywordtype">void</span> HandleGetGeom(<span class="keywordtype">void</span> *client, <span class="keywordtype">void</span> *req, <span class="keywordtype">int</span> reqlen); <a name="l00071"></a>00071 <a name="l00072"></a>00072 <span class="comment">// Laser stuff.</span> <a name="l00073"></a>00073 <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> *laser_device; <a name="l00074"></a>00074 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> laser_addr; <a name="l00075"></a>00075 <span class="keyword">struct </span>timeval laser_timestamp; <a name="l00076"></a>00076 <a name="l00077"></a>00077 <span class="comment">// Fiducila stuff (the data we generate).</span> <a name="l00078"></a>00078 <a class="code" href="structplayer__laser__data.html" title="Data: scan (PLAYER_LASER_DATA_SCAN).">player_laser_data_t</a> data; <a name="l00079"></a>00079 <span class="keyword">struct </span>timeval time; <a name="l00080"></a>00080 }; <a name="l00081"></a>00081 </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>