data.h

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#ifndef EMC_SYSTEM_DATA_H_
#define EMC_SYSTEM_DATA_H_
 
#include <vector>
#include <string>
 
namespace emc
{
 
class Communication;
 
// ----------------------------------------------------------------------------------------------------
 
struct LaserData
{
    double range_min;
    double range_max;
    double angle_min;
    double angle_max;
    double angle_increment;
    double timestamp;
    std::vector<float> ranges;
};
 
struct ControlEffort
{
    double x;
    double y;
    double th;
    double timestamp;
};
 
// ----------------------------------------------------------------------------------------------------
 
class FSMInterface
{
 
public:
 
    void raiseEvent(const char* event)
    {
        event_ = event;
    }
 
    bool running() const;
 
    const std::string& event() const { return event_; }
 
private:
 
    std::string event_;
 
};
 
} // end namespace emc
 
#endif