laser_data.H

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// Copyright (C) 2006 Christopher Mire
// Copyright (C) 2006 University of Louisiana at Lafayette
// Authors: Pablo Mejia, Suresh Golconda, Christopher Mire

#ifndef CAJUN_LASER_DATA_H
#define CAJUN_LASER_DATA_H

#define ACTUAL_BEAM             1
#define OBSTACLE_POSITION       2

#include "data_queue.H"
#include "conf.H"
#include "cbviz_util.H"
#include <string>
#include "world_state.H"
#include "tstamp_buffering.H"

namespace cajun
{
        class laser_data_t
        {
        public:
                laser_data_t () {;};
                laser_data_t (double cbviz_origin_pos[3], int scan_gp_id,
                              conf_t &conf, world_state_t *ws_);
                ~laser_data_t (){;};
                bool get_laser_beam_position (int id,
                                              scan_gp_data_t::coord_t *start_beam,
                                              scan_gp_data_t::coord_t *end_beam,
                                              unsigned packet_);

                unsigned get_num_beams (unsigned packet_);

                bool read_from_queue_head ();
                bool read_from_queue_next ();
        protected:
                int m_scan_gp_id;
                world_state_t *m_ws;
                access_data_t *m_ad;
                std::vector <scan_gp_data_t> m_scan_gp_list;
                double cbviz_origin[3];
                std::string m_conf_filename;
                int m_display_laser_beams;
                double laser_position[10000][2];
                double number_of_laser_beams;
                data_queue_reader_t<scan_gp_data_t> *m_scan_gp_dq;
                bool m_qid_ok;
        private:
                std::vector <scan_gp_data_t> m_latest_scan_gp_list;
                tstamp_buffering_t <scan_gp_data_t> m_scan_gp_buffer;
                scan_gp_data_t m_scan_gp_data;
        };
};
#endif

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