scan_data.h

00001 /*
00002  * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
00003  *               http://gearbox.sf.net/
00004  * Copyright (c) 2008-2010 Geoffrey Biggs
00005  *
00006  * hokuyo_aist Hokuyo laser scanner driver.
00007  *
00008  * This distribution is licensed to you under the terms described in the
00009  * LICENSE file included in this distribution.
00010  *
00011  * This work is a product of the National Institute of Advanced Industrial
00012  * Science and Technology, Japan. Registration number: H22PRO-1086.
00013  *
00014  * This file is part of hokuyo_aist.
00015  *
00016  * This software is licensed under the Eclipse Public License -v 1.0 (EPL). See
00017  * http://www.opensource.org/licenses/eclipse-1.0.txt
00018  */
00019 
00020 #ifndef SCAN_DATA_H__
00021 #define SCAN_DATA_H__
00022 
00023 #if defined(WIN32)
00024     typedef unsigned char           uint8_t;
00025     typedef unsigned int            uint32_t;
00026     #if defined(HOKUYO_AIST_STATIC)
00027         #define HOKUYO_AIST_EXPORT
00028     #elif defined(HOKUYO_AIST_EXPORTS)
00029         #define HOKUYO_AIST_EXPORT       __declspec(dllexport)
00030     #else
00031         #define HOKUYO_AIST_EXPORT       __declspec(dllimport)
00032     #endif
00033 #else
00034     #include <stdint.h>
00035     #define HOKUYO_AIST_EXPORT
00036 #endif
00037 
00038 #include "sensor_info.h"
00039 
00040 #include <string>
00041 
00046 namespace hokuyo_aist
00047 {
00048 
00049 class Sensor;
00050 
00052 class HOKUYO_AIST_EXPORT ScanData
00053 {
00054     public:
00055         friend class Sensor;
00056 
00059         ScanData();
00076         ScanData(uint32_t* const ranges_buffer,
00077                 unsigned int ranges_length,
00078                 uint32_t* const intensities_buffer=0,
00079                 unsigned int intensities_length=0);
00081         ScanData(ScanData const& rhs);
00082         ~ScanData();
00083 
00089         const uint32_t* ranges() const
00090             { return ranges_; }
00092         const uint32_t* intensities() const
00093             { return intensities_; }
00095         unsigned int ranges_length() const { return ranges_length_; }
00097         unsigned int intensities_length() const { return intensities_length_; }
00102         bool get_error_status() const { return error_; }
00105         std::string error_code_to_string(uint32_t error_code);
00109         unsigned int laser_time_stamp() const { return laser_time_; }
00113         unsigned long long system_time_stamp() const { return system_time_; }
00115         LaserModel model() const { return model_; }
00117         bool buffers_provided() const { return buffers_provided_; }
00118 
00127         ScanData& operator=(ScanData const& rhs);
00131         uint32_t operator[](unsigned int index);
00132 
00134         std::string as_string();
00135 
00137         void clean_up();
00138 
00139     protected:
00140         uint32_t* ranges_;
00141         uint32_t* intensities_;
00142         unsigned int ranges_length_;
00143         unsigned int intensities_length_;
00144         bool error_;
00145         unsigned int laser_time_;
00146         unsigned long long system_time_;
00147         LaserModel model_;
00148         bool buffers_provided_;
00149 
00150         void allocate_data(unsigned int length,
00151                 bool include_intensities = false);
00152         void write_range(unsigned int index, uint32_t value);
00153         void write_intensity(unsigned int index, uint32_t value);
00154 }; // class ScanData
00155 
00156 } // namespace hokuyo_aist
00157 
00160 #endif // SCAN_DATA_H__
00161