LaserVisual.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
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _LASERVISUAL_HH_
19 #define _LASERVISUAL_HH_
20 
21 #include <string>
22 
23 #include "gazebo/common/Color.hh"
24 #include "gazebo/msgs/MessageTypes.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace rendering
31  {
34 
37  class GZ_RENDERING_VISIBLE LaserVisual : public Visual
38  {
43  public: LaserVisual(const std::string &_name, VisualPtr _vis,
44  const std::string &_topicName);
45 
47  public: virtual ~LaserVisual();
48 
49  // Documentation inherited from parent.
50  public: virtual void SetEmissive(const common::Color &_color,
51  const bool _cascade = true);
52 
54  private: void OnScan(ConstLaserScanStampedPtr &_msg);
55 
57  private: void Update();
58  };
60  }
61 }
62 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Visualization for laser data.
Definition: LaserVisual.hh:37
A renderable object.
Definition: Visual.hh:59
Defines a color.
Definition: Color.hh:35
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:113