SonarSensor.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
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15  *
16 */
17 #ifndef _GAZEBO_SENSORS_SONARSENSOR_HH_
18 #define _GAZEBO_SENSORS_SONARSENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 
23 #include "gazebo/sensors/Sensor.hh"
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
30  namespace sensors
31  {
32  // Forward declare private data class.
33  class SonarSensorPrivate;
34 
37 
43  {
45  public: SonarSensor();
46 
48  public: virtual ~SonarSensor();
49 
50  // Documentation inherited
51  public: virtual void Load(const std::string &_worldName);
52 
53  // Documentation inherited
54  public: virtual void Init();
55 
56  // Documentation inherited
57  public: virtual std::string Topic() const;
58 
61  public: double RangeMin() const;
62 
65  public: double RangeMax() const;
66 
69  public: double Radius() const;
70 
79  public: double Range();
80 
81 
82  // Documentation inherited
83  public: virtual bool IsActive() const;
84 
88  public: event::ConnectionPtr ConnectUpdate(
89  std::function<void (msgs::SonarStamped)> _subscriber);
90 
94  public: void DisconnectUpdate(event::ConnectionPtr &_conn)
95  GAZEBO_DEPRECATED(8.0);
96 
97  // Documentation inherited
98  protected: virtual bool UpdateImpl(const bool _force);
99 
100  // Documentation inherited
101  protected: virtual void Fini();
102 
104  private: void OnContacts(ConstContactsPtr &_msg);
105 
108  private: std::unique_ptr<SonarSensorPrivate> dataPtr;
109  };
111  }
112 }
113 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Sensor with sonar cone.
Definition: SonarSensor.hh:42
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
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