diff --git a/cpp/Scan.hpp b/cpp/Scan.hpp
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+++ b/cpp/Scan.hpp
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+/**
+* 
+* BreezySLAM: Simple, efficient SLAM in C++
+*
+* Scan.hpp - header for Scan 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 <stdlib.h>
+
+#include <iostream>
+using namespace std; 
+
+class Velocities;
+class Laser;
+
+
+/**
+* A class for Lidar scans.
+*/
+class Scan  
+{
+    friend class Map;
+    friend class CoreSLAM;
+    friend class RMHC_SLAM;
+        
+public:
+    
+/**
+* Builds a Scan object.
+* @param laser laser parameters
+* 
+*/
+Scan(Laser * laser);
+
+/**
+* Builds a Scan object.
+* @param laser laser parameters
+* @param span supports spanning laser scan to cover the space better.
+* 
+*/
+Scan(Laser * laser, int span);
+
+
+/**
+* Deallocates this Scan object.
+* 
+*/
+~Scan(void);
+
+
+/**
+* Updates this Scan object with new values from a Lidar scan.
+* @param scanvals_mm scanned Lidar distance values in millimeters
+* @param hole_width_millimeters hole width in millimeters
+* 
+*/
+void 
+update(
+    int * scanvals_mm, 
+    double hole_width_millimeters);
+
+    
+/**
+* Updates this Scan object with new values from a Lidar scan.
+* @param scanvals_mm scanned Lidar distance values in millimeters
+* @param hole_width_millimeters hole width in millimeters
+* @param velocities forward velocity and angular velocity of robot at scan time
+* 
+*/
+void 
+update(
+    int * scanvals_mm, 
+    double hole_width_millimeters,
+    Velocities & velocities);
+
+friend ostream& operator<< (ostream & out, Scan & scan);
+
+private:
+    
+    struct scan_t * scan;
+    
+    struct laser_t * laser;
+    
+    void init(Laser * laser, int span);
+};
+