laser_sensor.H

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// Copyright (C) 2003, 2004 Suresh Golconda, Nitin, Arun Pratap

#ifndef CAJUN_LASER_H
#define CAJUN_LASER_H

#include "components.H"
#include "queue_generator.H"
#include "simulated_object.H"
#include "data_logger.H"
#include "quaternion.H"

namespace cajun
{
class scan_observer_t;
class simulated_object_t;

class laser_sensor_t: public components_t
{
#define DELAY_SICK              0.02
private:
        friend class scan_observer_t;
        int m_scan_cycle;

        scan_data_t m_laser_scan;
        simulated_object_t *m_robot;
        scan_observer_t *m_scan_observer;

        dSpaceID m_thisSpace;
        dGeomID m_thisGround;
        dGeomID m_laser_ray;

        int m_laser_id;
        double m_laserRange;
        int m_rotation_degrees;
        double m_laser_beam_angles[4][SCAN_MAX_BEAMS];
public:
        //Functions
        laser_sensor_t (dSpaceID world_space, dGeomID ground,
                        simulated_object_t *robot, timer_t *timer,
                        char const *cfg_fname);
        void read_config_file (char const *);
        void set_laser_beam_angles ();
        double test_laser_collision (int cycle,int laser_angle);

        // inherited functions
        void update_position (dBodyID carb);
        void command (int cmd, double value);
        void simulate_component ();
        virtual ~laser_sensor_t ();
};

class scan_observer_t : public timer_t::observer_t
{
public:
        scan_observer_t (laser_sensor_t *laser_ ,double interval_, int id_);
        bool timeout (double currTime);
        virtual ~scan_observer_t ();
private:
        laser_sensor_t * m_laser;
        int m_laser_id;
};
};
#endif

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