From 60ec3c1e09a329c6313f84ca928e028990950814 Mon Sep 17 00:00:00 2001
From: "Simon D. Levy" <simon.d.levy@gmail.com>
Date: Sun, 7 Sep 2014 20:57:09 -0400
Subject: [PATCH] Create Laser.cpp

---
 cpp/Laser.cpp | 85 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 85 insertions(+)
 create mode 100644 cpp/Laser.cpp

diff --git a/cpp/Laser.cpp b/cpp/Laser.cpp
new file mode 100644
index 0000000..946e1fe
--- /dev/null
+++ b/cpp/Laser.cpp
@@ -0,0 +1,85 @@
+/**
+* 
+* BreezySLAM: Simple, efficient SLAM in C++
+*
+* Laser.cpp - C++ code for Laser model class
+*
+* Copyright (C) 2014 Simon D. Levy
+
+* This code is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as 
+* published by the Free Software Foundation, either version 3 of the 
+* License, or (at your option) any later version.
+* 
+* This code 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 Lesser General Public License 
+* along with this code.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdio.h>
+#include <math.h>
+
+#include <iostream>
+#include <vector>
+using namespace std; 
+
+#include "Laser.hpp"
+#include "coreslam.h"
+
+
+Laser::Laser(
+    int scanSize,
+    float scanRateHz,
+    float detection_angle_degrees,
+    float distance_no_detection_mm,
+    int detection_margin,
+    float offset_mm
+    )
+{    
+    this->laser = new laser_t;
+    
+    this->laser->scan_size = scanSize;
+    this->laser->scan_rate_hz = scanRateHz;
+    this->laser->detection_angle_degrees = detection_angle_degrees;
+    this->laser->distance_no_detection_mm = distance_no_detection_mm;
+    this->laser->detection_margin = detection_margin;
+    this->laser->offset_mm = offset_mm;
+}
+
+
+Laser::Laser(void)
+{
+    this->laser = new laser_t;
+
+    this->laser->scan_size = 0;
+    this->laser->scan_rate_hz = 0;
+    this->laser->detection_angle_degrees = 0;
+    this->laser->distance_no_detection_mm = 0;
+    this->laser->detection_margin = 0;
+    this->laser->offset_mm = 0;   
+}
+
+
+Laser::~Laser(void)
+{
+    delete this->laser;
+}
+
+ostream& operator<< (ostream & out, Laser & laser)
+{
+    char str[512];
+    char lstr[512];
+    
+    laser_string(*laser.laser, lstr);
+    
+    sprintf(str, "<%s>", lstr);
+    
+    out << str;
+    
+    return out;
+}
+