~robot3d-team/robot3d/trunk

//! Laser Scanner class.

 

/*!

 *

 * Describes general laser scanner properties.

 *

 * @author Lutz Winkler

 *

 */

 

#ifndef LASERSCANNER_H_

#define LASERSCANNER_H_

 

#include "raySensorBase.h"

 

namespace srCore {

 

class LaserScanner : public RaySensorBase

{

public:

 

        /**

         * \brief  Initializes the sensor

         *

         * \param                       gm                                                      GameManager, which handles the corresponding robot

         * \param                       attachedTo                                      Body, where the scanner is attached to

         * \param               pos                                                     Local position of the scanner

         * \param                       orient                                          Local orientation of the scanner

         * \param                       flareAngle                                      flare angle of the scanner

         * \param                       resolution                                      resolution of the scanner

         * \param                       name                                            name of the scanner

         *

         *

         */

        LaserScanner(dtCore::RefPtr<BodyBase> attachedTo, osg::Vec3f pos, osg::Vec3f orient, float flareAngle, osg::Vec2 resolution, const std::string &name);

        virtual ~LaserScanner();

 

        //! sends command to retrieve data

        void evaluate(ParameterReturnValue srv);

 

        void getSensorValue(std::ostream& theStream) const {theStream << currentSensorValue;};

 

//      void update() {RaySensorBase::update();};

 

private:

        osg::ref_ptr<osg::Image> value;

 

};

 

}

 

#endif /*LASERSCANNER_H_*/