23 #ifndef _PLUGINS_LASER_URG_GBX_AQT_H_
24 #define _PLUGINS_LASER_URG_GBX_AQT_H_
26 #include "acquisition_thread.h"
31 #ifdef HAVE_URG_GBX_9_11
32 namespace hokuyo_aist {
37 namespace hokuyoaist {
57 unsigned int number_of_values_;
58 #ifdef HAVE_URG_GBX_9_11
59 hokuyo_aist::HokuyoLaser *laser_;
60 hokuyo_aist::HokuyoData * data_;
62 hokuyoaist::Sensor * laser_;
63 hokuyoaist::ScanData *data_;
66 std::string cfg_name_;
67 std::string cfg_prefix_;
69 std::map<std::string, std::string> device_info_;
71 std::string cfg_device_;
73 unsigned int first_ray_;
74 unsigned int last_ray_;
75 unsigned int front_ray_;
76 unsigned int front_idx_;
77 unsigned int num_rays_;
78 unsigned int slit_division_;
79 float step_per_angle_;
80 float angle_per_step_;