RotatingLaserRangeFinder.hpp

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

#ifndef SIMULATION_MARSROTATINGLASERRANGEFINDER_TASK_HPP
#define SIMULATION_MARSROTATINGLASERRANGEFINDER_TASK_HPP

#include "mars/RotatingLaserRangeFinderBase.hpp"

namespace mars{
    namespace sim{
        class  RotatingRaySensor;
    };
};

namespace mars {

    class RotatingLaserRangeFinder : public RotatingLaserRangeFinderBase
    {
        friend class RotatingLaserRangeFinderBase;
    protected:
        int mSensorID;
        mars::sim::RotatingRaySensor* mSensor;

    public:    
        RotatingLaserRangeFinder(std::string const& name = "mars::RotatingLaserRangeFinder");

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

            ~RotatingLaserRangeFinder();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
        
        void update(double delta_t);
    };
}

#endif