Developed Double laser plugin

plugins/doublelaser/CMakeLists.txt

@@ -10,12 +10,9 @@ message("sono nel doublelaser!!")
 
 include(AddGazeboYarpPluginTarget)
 
-set(doubleLaser_source      src/DoubleLaser.cc
-                            src/DoubleLaserDriver.cpp
-                            )
+set(doubleLaser_source      src/DoubleLaser.cc  )
 
-set(doubleLaser_headers     include/gazebo/DoubleLaser.hh
-                            include/yarp/dev/DoubleLaserDriver.h )
+set(doubleLaser_headers     include/gazebo/DoubleLaser.hh )
 
 
 set(LIB_COMMON_NAME gazebo_yarp_lib_common)

plugins/doublelaser/include/gazebo/DoubleLaser.hh

@@ -4,6 +4,11 @@
  * CopyPolicy: Released under the terms of the LGPLv2.1 or any later version, see LGPL.TXT or LGPL3.TXT
  */
 
+/**
+ * @file DoubleLaser.h
+ * @authors: Valentina Gaggero <[email protected]>
+ */
+
 #ifndef GAZEBOYARP_DOUBLELASER_HH
 #define GAZEBOYARP_DOUBLELASER_HH
 
@@ -22,20 +27,15 @@ namespace yarp {
 namespace gazebo
 {
 /// \class GazeboYarpDoubleLaser
-/// Gazebo Plugin emulating the yarp controlBoard device in Gazebo.
+/// Gazebo Plugin emulating the yarp double laser device in Gazebo.
 ///.
 /// It can be configurated using the yarpConfigurationFile sdf tag,
 /// that contains a Gazebo URI pointing at a yarp .ini configuration file
-/// containt the configuration parameters of the controlBoard
-///
-/// The gazebo plugin is the "main" of the yarp device,
-/// so what it should is to initialize the device, copy the
-/// gazebo pointer, and return
+/// containing the configuration parameters of the doublelaser
 ///
-/// The device will receive the gazebo pointer, parse the model,
-/// and wait for yarp connections and the gazebo wait event.
-///
-class GazeboYarpDoubleLaser : public SensorPlugin
+
+
+class GazeboYarpDoubleLaser : public ModelPlugin
 {
 public:
     GazeboYarpDoubleLaser();
@@ -44,23 +44,25 @@ public:
     /**
      * Saves the gazebo pointer, creates the device driver
      */
-    void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
+    void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
 
 private:
+
+    bool readConfigurationFromFile(physics::ModelPtr _parent, sdf::ElementPtr _sdf); //Getting .ini configuration file from sdf
     yarp::dev::PolyDriver m_wrapper_rangeFinder;
     yarp::dev::IMultipleWrapper* m_iWrap_rangeFinder;
-
-
-    //yarp::dev::PolyDriverList m_doublelaser; //in this list there is only the doublelaser device
-    yarp::dev::PolyDriver m_driver_doublelaser;
-    yarp::dev::IMultipleWrapper* m_iWrap_doublelaser; //the wrapper interface of doublelaser
-
-
-    yarp::dev::PolyDriverList m_lasers;// the contains the pointer two laser (front and back)
+
+     yarp::dev::PolyDriver m_driver_doublelaser;
+     yarp::dev::IMultipleWrapper* m_iWrap_doublelaser;
+
+    yarp::dev::PolyDriverList m_lasers;  //contains pointers of front and back laser
 
     yarp::os::Property m_parameters;
 
     std::string m_sensorName;
+
+    yarp::dev::PolyDriver * m_driver_laserFront;
+    yarp::dev::PolyDriver * m_driver_laserBack;
 };
 
 }