GpuRaySensor.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
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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,
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13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef _GAZEBO_SENSORS_GPURAYSENSOR_HH_
18 #define _GAZEBO_SENSORS_GPURAYSENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <vector>
23 
24 #include <ignition/math/Angle.hh>
25 #include <ignition/math/Pose3.hh>
26 
28 #include "gazebo/sensors/Sensor.hh"
30 #include "gazebo/util/system.hh"
31 
32 namespace gazebo
33 {
36  namespace sensors
37  {
38  // Forward declare private data pointer.
39  class GpuRaySensorPrivate;
40 
44 
51  {
53  public: GpuRaySensor();
54 
56  public: virtual ~GpuRaySensor();
57 
61  public: virtual void Load(const std::string &_worldName,
62  sdf::ElementPtr _sdf);
63 
66  public: virtual void Load(const std::string &_worldName);
67 
69  public: virtual void Init();
70 
71  // Documentation inherited
72  protected: virtual bool UpdateImpl(const bool _force);
73 
75  protected: virtual void Fini();
76 
77  // Documentation inherited
78  public: virtual std::string Topic() const;
79 
82  public: rendering::GpuLaserPtr LaserCamera() const;
83 
86  public: ignition::math::Angle AngleMin() const;
87 
90  public: void SetAngleMin(const double _angle);
91 
94  public: ignition::math::Angle AngleMax() const;
95 
98  public: void SetAngleMax(const double _angle);
99 
102  public: double AngleResolution() const;
103 
106  public: double RangeMin() const;
107 
110  public: double RangeMax() const;
111 
119  public: double RangeResolution() const;
120 
123  public: int RayCount() const;
124 
127  public: int RangeCount() const;
128 
131  public: int VerticalRayCount() const;
132 
135  public: int VerticalRangeCount() const;
136 
139  public: ignition::math::Angle VerticalAngleMin() const;
140 
143  public: void SetVerticalAngleMin(const double _angle);
144 
147  public: ignition::math::Angle VerticalAngleMax() const;
148 
151  public: void SetVerticalAngleMax(const double _angle);
152 
155  public: double VerticalAngleResolution() const;
156 
166  public: double Range(const int _index) const;
167 
170  public: void Ranges(std::vector<double> &_ranges) const;
171 
181  public: double Retro(const int _index) const;
182 
192  public: int Fiducial(const unsigned int _index) const;
193 
196  public: unsigned int CameraCount() const;
197 
200  public: bool IsHorizontal() const;
201 
208  public: double RayCountRatio() const;
209 
216  public: double RangeCountRatio() const;
217 
220  public: double HorzFOV() const;
221 
224  public: double CosHorzFOV() const;
225 
228  public: double VertFOV() const;
229 
232  public: double CosVertFOV() const;
233 
236  public: double HorzHalfAngle() const;
237 
240  public: double VertHalfAngle() const;
241 
244  public: event::ConnectionPtr ConnectNewLaserFrame(
245  std::function<void(const float *, unsigned int, unsigned int,
246  unsigned int, const std::string &)> _subscriber);
247 
248  // Documentation inherited
249  public: virtual bool IsActive() const;
250 
252  private: void Render();
253 
256  private: std::unique_ptr<GpuRaySensorPrivate> dataPtr;
257  };
259  }
260 }
261 #endif
GPU based laser sensor.
Definition: GpuRaySensor.hh:50
Forward declarations for the common classes.
Definition: Animation.hh:33
boost::shared_ptr< GpuLaser > GpuLaserPtr
Definition: RenderTypes.hh:105
Forward declarations for transport.
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
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