00001 // Copyright (C) 2004-2006 University of Louisiana at Lafayette 00002 // Authors: Suresh Golconda, Nitin, Arun Pratap, Christopher Mire 00003 00004 #ifndef CAJUN_LASER_VIZ_H 00005 #define CAJUN_LASER_VIZ_H 00006 00007 #define ACTUAL_BEAM 1 00008 #define OBSTACLE_POSITION 2 00009 00010 #include "laser_data.H" 00011 #include "data_queue.H" 00012 #include "conf.H" 00013 #include "cbviz_util.H" 00014 #include <string> 00015 #include "component_interface.H" 00016 00017 namespace cajun 00018 { 00019 class laser_visualization_t: public laser_data_t, 00020 public component_interface_t 00021 { 00022 public: 00023 laser_visualization_t (double cbviz_origin_pos[3], int scan_gp_id, 00024 conf_t &conf, color_node_t laser_colors, 00025 world_state_t *ws_); 00026 virtual ~laser_visualization_t() {;}; 00027 void update_data (double bot_pos_[3]); 00028 void display(double bot_pos[3]); 00029 void toggle_display (); 00030 private: 00031 color_node_t m_laser_color; 00032 }; 00033 }; 00034 #endif