LogicalCameraSensor.hh
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2  * Copyright (C) 2015 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef _GAZEBO_LOGICAL_CAMERASENSOR_HH_
18 #define _GAZEBO_LOGICAL_CAMERASENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <sdf/sdf.hh>
23 
24 #include "gazebo/sensors/Sensor.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace sensors
30  {
31  // Forward declare private data class
32  class LogicalCameraSensorPrivate;
33 
36 
43  {
45  public: LogicalCameraSensor();
46 
48  public: virtual ~LogicalCameraSensor();
49 
50  // Documentation inherited
51  public: virtual void Load(const std::string &_worldName,
52  sdf::ElementPtr _sdf);
53 
54  // Documentation inherited
55  public: virtual void Load(const std::string &_worldName);
56 
57  // Documentation inherited
58  public: virtual void Init();
59 
60  // Documentation inherited.
61  public: virtual std::string Topic() const;
62 
66  public: double Near() const;
67 
71  public: double Far() const;
72 
77  public: ignition::math::Angle HorizontalFOV() const;
78 
82  public: double AspectRatio() const;
83 
87  public: msgs::LogicalCameraImage Image() const;
88 
89  // Documentation inherited
90  public: virtual bool IsActive() const;
91 
92  // Documentation inherited
93  protected: virtual bool UpdateImpl(const bool _force);
94 
95  // \brief Finalize the logical camera
96  protected: virtual void Fini();
97 
98  // \internal
99  // \brief Private data pointer
100  private: std::unique_ptr<LogicalCameraSensorPrivate> dataPtr;
101  };
103  }
104 }
105 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A camera sensor that reports locations of objects instead of rendering a scene.
Definition: LogicalCameraSensor.hh:42
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Base class for sensors.
Definition: Sensor.hh:51
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58