/////////////////////////////////////////////////////////////////////////////// File: laserbeacondevice.hh// Author: Andrew Howard// Date: 12 Jan 2000// Desc: Simulates the laser-based beacon detector//// CVS info://  $Source: /cvsroot/playerstage/code/stage/src/models/Attic/fiducialfinderdevice.hh,v $//  $Author: gerkey $//  $Revision: 1.1.4.1 $//// Usage://  (empty)//// Theory of operation://  (empty)//// Known bugs://  (empty)//// Possible enhancements://  (empty)/////////////////////////////////////////////////////////////////////////////// LBD = Laser Beacon Detector!#ifndef LBDDEVICE_HH#define LBDDEVICE_HH#include "playerdevice.hh"#include "laserdevice.hh"#define MAXBEACONS 100typedef struct  {  double x, y, th;  int id;} BeaconData;typedef struct{  BeaconData beacons[MAXBEACONS];  int beaconCount;} ExportLaserBeaconDetectorData;class CFiducialFinder : public CPlayerEntity{  // Default constructor  public: CFiducialFinder( LibraryItem *libit, CWorld *world, CLaserDevice *parent );  // a static named constructor - a pointer to this function is given  // to the Library object and paired with a string.  When the string  // is seen in the worldfile, this function is called to create an  // instance of this entitypublic: static CFiducialFinder* Creator(  LibraryItem *libit, CWorld *world, CEntity *parent )  { return( new CFiducialFinder( libit, world, (CLaserDevice*)parent ) ); }      // Startup routine  public: virtual bool Startup();  // Load the entity from the worldfile  public: virtual bool Load(CWorldFile *worldfile, int section);  // Update the device  public: virtual void Update( double sim_time );  public: virtual void UpdateConfig( void );  // Pointer to laser used as souce of data  private: CLaserDevice *laser;  // Time of last update  private: uint32_t time_sec, time_usec;  // Detection parameters  private: double max_range_anon;  private: double max_range_id;      private:  ExportLaserBeaconDetectorData expBeacon;   // place to keep the fake lbd parameters that we'll pass back to clients  // who ask for them  private: char m_bit_count;  private: short m_bit_size, m_zero_thresh, m_one_thresh;  // this one keeps track of whether or not we've already subscribed to the  // underlying laser device  private: bool m_laser_subscribedp;#ifdef INCLUDE_RTK      // Process GUI update messages  public: virtual void OnUiUpdate(RtkUiDrawData *pData);  // Draw the beacon data  public: void DrawData(RtkUiDrawData *event);#endif#ifdef INCLUDE_RTK2  // Initialise the rtk gui  protected: virtual void RtkStartup();  // Finalise the rtk gui  protected: virtual void RtkShutdown();  // Update the rtk gui  protected: virtual void RtkUpdate();    // For drawing the sonar beams  private: rtk_fig_t *beacon_fig;#endif};#endif