diff --git a/python/breezyslam/components.py b/python/breezyslam/components.py
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+++ b/python/breezyslam/components.py
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+'''
+BreezySLAM: Simple, efficient SLAM in Python
+
+components.py: SLAM components (Laser, Map, Position, Scan, Map),
+implemented as C extensions for efficiency. 
+
+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/>.
+You should also have received a copy of the Parrot Parrot AR.Drone 
+Development License and Parrot AR.Drone copyright notice and disclaimer 
+and If not, see 
+<https:#projects.ardrone.org/attafchments/277/ParrotLicense.txt> 
+and
+<https:#projects.ardrone.org/attachments/278/ParrotCopyrightAndDisclaimer.txt>.
+'''
+
+# These classes are implemented as C extensions
+from pybreezyslam import Scan, Map, Position
+
+class Laser(object):
+    '''
+    A class representing the specifications of a scanning laser rangefinder (Lidar).
+    '''
+    def __init__(self, scan_size, scan_rate_hz, detection_angle_degrees, distance_no_detection_mm, detection_margin=0, offset_mm=0):
+        
+        self.scan_size = scan_size
+        self.scan_rate_hz = scan_rate_hz
+        self.detection_angle_degrees = detection_angle_degrees
+        self.distance_no_detection_mm = distance_no_detection_mm
+        self.distance_no_detection_mm = distance_no_detection_mm
+        self.detection_margin = detection_margin
+        self.offset_mm = offset_mm
+        
+    def __str__(self):
+        
+        return  'scan_size=%d | scan_rate=%3.3f hz | detection_angle=%3.3f deg | distance_no_detection=%7.4f mm | detection_margin=%d | offset=%4.4f m' % \
+        (self.scan_size,  self.scan_rate_hz,  self.detection_angle_degrees, self.distance_no_detection_mm,  self.detection_margin, self.offset_mm)
+        
+    def __repr__(self):
+        
+        return str(self)
+
+
+class URG04LX(Laser):
+    '''
+    A class for the Hokuyo URG-04LX
+    '''
+    def __init__(self, detectionMargin = 0, offsetMillimeters = 0):
+        
+        Laser.__init__(self, 682, 10, 240, 4000, detectionMargin, offsetMillimeters)
+
+