DepthCameraSensor.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.
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17 #ifndef _GAZEBO_SENSORS_DEPTHCAMERASENSOR_HH_
18 #define _GAZEBO_SENSORS_DEPTHCAMERASENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 
25 #include "gazebo/sensors/Sensor.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
32  namespace sensors
33  {
34  // Forward declare private data class
35  class DepthCameraSensorPrivate;
36 
44  {
46  public: DepthCameraSensor();
47 
49  public: virtual ~DepthCameraSensor();
50 
52  public: virtual void Init();
53 
56  public: virtual const float *DepthData() const;
57 
60  public: virtual rendering::DepthCameraPtr DepthCamera() const;
61 
64  protected: virtual void Load(const std::string &_worldName);
65 
66  // Documentation inherited
67  protected: virtual bool UpdateImpl(const bool _force);
68 
71  private: std::unique_ptr<DepthCameraSensorPrivate> dataPtr;
72  };
74  }
75 }
76 #endif
Basic camera sensor.
Definition: CameraSensor.hh:43
Forward declarations for the common classes.
Definition: Animation.hh:33
Definition: DepthCameraSensor.hh:43
boost::shared_ptr< DepthCamera > DepthCameraPtr
Definition: RenderTypes.hh:97
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58