RayPlugin.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /*
18  * Desc: Ray Plugin
19  * Author: Nate Koenig mod by John Hsu
20  */
21 
22 #ifndef GAZEBO_PLUGINS_RAYPLUGIN_HH_
23 #define GAZEBO_PLUGINS_RAYPLUGIN_HH_
24 
25 #include "gazebo/common/Plugin.hh"
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
34  {
36  public: RayPlugin();
37 
39  public: virtual ~RayPlugin();
40 
42  public: virtual void OnNewLaserScans();
43 
46  public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
47 
50 
52  private: sensors::RaySensorPtr parentSensor;
53 
55  private: event::ConnectionPtr newLaserScansConnection;
56  };
57 }
58 #endif
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition: Animation.hh:33
physics::WorldPtr world
Pointer to parent.
Definition: RayPlugin.hh:49
A Ray Sensor Plugin.
Definition: RayPlugin.hh:33
std::shared_ptr< RaySensor > RaySensorPtr
Definition: SensorTypes.hh:68
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
Forward declarations and typedefs for sensors.
A plugin with access to physics::Sensor.
Definition: Plugin.hh:289
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58