text: /*
  Adept MobileRobots Robotics Interface for Applications (ARIA)
  Copyright (C) 2004-2005 ActivMedia Robotics LLC
  Copyright (C) 2006-2010 MobileRobots Inc.
  Copyright (C) 2011-2015 Adept Technology, Inc.
  Copyright (C) 2016 Omron Adept Technologies, Inc.
  
       This program 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.
  
       This program 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 this program; if not, write to the Free Software
       Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  If you wish to redistribute ARIA under different terms, contact 
  Adept MobileRobots for information about a commercial version of ARIA at 
  robots@mobilerobots.com or 
  Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
  */
  #ifndef ARLASERREFLECTORDEVICE_H
  #define ARLASERREFLECTORDEVICE_H
  
  #include "ariaTypedefs.h"
  #include "ArRangeDevice.h"
  #include "ArFunctor.h"
  
  class ArSick;
  class ArRobot;
  
  /// A class for keeping track of laser reflectors that we see right now
  /** 
      This class is for showing the laser reflectors in MobileEyes.
      This requires that the range device you pass in uses the
      'extraInt' in the rawReadings ArSensorReading to note reflector
      value and that anything greater than 0 is a reflector.
  */
  class ArLaserReflectorDevice : public ArRangeDevice
  {
  public:
    /// Constructor
    AREXPORT ArLaserReflectorDevice(ArRangeDevice *laser, ArRobot *robot,
  				  const char * name = "reflector");
    /// Destructor
    AREXPORT virtual ~ArLaserReflectorDevice();
    /// Grabs the new readings from the robot and adds them to the buffers
    AREXPORT void processReadings(void);
    /// Specifically does nothing since it was done in the constructor
    AREXPORT virtual void setRobot(ArRobot *robot);
    /// Adds a reflector threshold to the task
    AREXPORT void addToConfig(ArConfig *config, const char *section);
  protected:
    ArRangeDevice *myLaser;
    int myReflectanceThreshold;
    ArFunctorC<ArLaserReflectorDevice> myProcessCB;
  };
  
  
  #endif // ARLASERREFLECTORDEVICE_H
  