laser_messages.h

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/*********************************************************
 *
 * This source code is part of the Carnegie Mellon Robot
 * Navigation Toolkit (CARMEN)
 *
 * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
 * Roy, and Sebastian Thrun
 *
 * CARMEN is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU General Public 
 * License as published by the Free Software Foundation; 
 * either version 2 of the License, or (at your option)
 * any later version.
 *
 * CARMEN is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied 
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 * PURPOSE.  See the GNU General Public License for more 
 * details.
 *
 * You should have received a copy of the GNU General 
 * Public License along with CARMEN; if not, write to the
 * Free Software Foundation, Inc., 59 Temple Place, 
 * Suite 330, Boston, MA  02111-1307 USA
 *
 ********************************************************/

// @{

#ifndef CARMEN_LASER_MESSAGES_H
#define CARMEN_LASER_MESSAGES_H

#ifdef __cplusplus
extern "C" {
#endif

  typedef enum {SICK_LMS = 0, 
                SICK_PLS = 1, 
                HOKUYO_URG = 2, 
                SIMULATED_LASER = 3, 
                UMKNOWN_PROXIMITY_SENSOR = 99}
  carmen_laser_laser_type_t;

  typedef enum {OFF = 0, 
                DIRECT = 1, 
                NORMALIZED = 2}          
  carmen_laser_remission_type_t;

  typedef struct {
    carmen_laser_laser_type_t laser_type;   
    double start_angle;                     
    double fov;                             
    double angular_resolution;              
    double maximum_range;                   
    double accuracy;                        
  carmen_laser_remission_type_t remission_mode;  /* if and what kind of remission values are used */

} carmen_laser_laser_config_t;


  typedef struct {
    carmen_laser_laser_config_t config;    
    int num_readings;                      
    float *range;                          
    int num_remissions;                    
    float *remission;                      
    double timestamp;                      
    char *host;                            
  } carmen_laser_laser_message;


#define      CARMEN_LASER_LASER_FMT       "{{int,double,double,double,double,double,int},int,<float:2>,int,<float:4>,double,string}"

#define      CARMEN_LASER_FRONTLASER_NAME "carmen_laser_frontlaser"
#define      CARMEN_LASER_FRONTLASER_FMT  CARMEN_LASER_LASER_FMT

#define      CARMEN_LASER_LASER1_NAME     CARMEN_LASER_FRONTLASER_NAME
#define      CARMEN_LASER_LASER1_FMT      CARMEN_LASER_FRONTLASER_FMT

#define      CARMEN_LASER_REARLASER_NAME  "carmen_laser_rearlaser"
#define      CARMEN_LASER_REARLASER_FMT   CARMEN_LASER_LASER_FMT

#define      CARMEN_LASER_LASER2_NAME     CARMEN_LASER_REARLASER_NAME
#define      CARMEN_LASER_LASER2_FMT      CARMEN_LASER_REARLASER_FMT

#define      CARMEN_LASER_LASER3_NAME     "carmen_laser_laser3"
#define      CARMEN_LASER_LASER3_FMT      CARMEN_LASER_LASER_FMT

#define      CARMEN_LASER_LASER4_NAME     "carmen_laser_laser4"
#define      CARMEN_LASER_LASER4_FMT      CARMEN_LASER_LASER_FMT

#define      CARMEN_LASER_LASER5_NAME     "carmen_laser_laser5"
#define      CARMEN_LASER_LASER5_FMT      CARMEN_LASER_LASER_FMT


typedef struct {
  int frontlaser_stalled;  
  int rearlaser_stalled;   
  int laser3_stalled;      
  int laser4_stalled;      
  int laser5_stalled;      
} carmen_laser_alive_message;
  
#define      CARMEN_LASER_ALIVE_NAME            "carmen_laser_alive"
#define      CARMEN_LASER_ALIVE_FMT             "{int,int,int,int,int}"

  
#ifdef __cplusplus
}
#endif

#endif

// @}

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