LaserScanner.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef VELODYNE_LIDAR_LaserScanner_TASK_HPP
#define VELODYNE_LIDAR_LaserScanner_TASK_HPP

#include "velodyne_lidar/LaserScannerBase.hpp"

#include <base/samples/DepthMap.hpp>
#include <base/Timeout.hpp>

namespace velodyne_lidar {

    class VelodyneDataDriver;

    class LaserScanner : public LaserScannerBase
    {

    friend class LaserScannerBase;

    protected:
        VelodyneDataDriver* laserdriver;
        uint64_t last_lost_packet_count;
        base::Timeout no_packet_timeout;

    public:
        LaserScanner(std::string const& name = "velodyne_lidar::LaserScanner");

        LaserScanner(std::string const& name, RTT::ExecutionEngine* engine);

        ~LaserScanner();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif