RaySensor.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
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13  * See the License for the specific language governing permissions and
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17 #ifndef _GAZEBO_SENSORS_RAYSENSOR_HH_
18 #define _GAZEBO_SENSORS_RAYSENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <vector>
23 
24 #include <ignition/math/Angle.hh>
25 
26 #include "gazebo/sensors/Sensor.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  class OgreDynamicLines;
32  class Collision;
33  class MultiRayShape;
34 
37  namespace sensors
38  {
39  // Forward declare private data class.
40  class RaySensorPrivate;
41 
44 
52  {
54  public: RaySensor();
55 
57  public: virtual ~RaySensor();
58 
59  // Documentation inherited
60  public: virtual void Load(const std::string &_worldName);
61 
62  // Documentation inherited
63  public: virtual void Init();
64 
65  // Documentation inherited
66  protected: virtual bool UpdateImpl(const bool _force);
67 
68  // Documentation inherited
69  protected: virtual void Fini();
70 
71  // Documentation inherited
72  public: virtual std::string Topic() const;
73 
76  public: ignition::math::Angle AngleMin() const;
77 
80  public: ignition::math::Angle AngleMax() const;
81 
84  public: double AngleResolution() const;
85 
88  public: double RangeMin() const;
89 
92  public: double RangeMax() const;
93 
96  public: double RangeResolution() const;
97 
100  public: int RayCount() const;
101 
104  public: int RangeCount() const;
105 
108  public: int VerticalRayCount() const;
109 
112  public: int VerticalRangeCount() const;
113 
116  public: ignition::math::Angle VerticalAngleMin() const;
117 
120  public: ignition::math::Angle VerticalAngleMax() const;
121 
124  public: double VerticalAngleResolution() const;
125 
135  public: double Range(const unsigned int _index) const;
136 
139  public: void Ranges(std::vector<double> &_ranges) const;
140 
150  public: double Retro(const unsigned int _index) const;
151 
161  public: int Fiducial(const unsigned int _index) const;
162 
165  public: physics::MultiRayShapePtr LaserShape() const;
166 
167  // Documentation inherited
168  public: virtual bool IsActive() const;
169 
172  private: std::unique_ptr<RaySensorPrivate> dataPtr;
173  };
175  }
176 }
177 
178 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
boost::shared_ptr< MultiRayShape > MultiRayShapePtr
Definition: PhysicsTypes.hh:153
Sensor with one or more rays.
Definition: RaySensor.hh:51
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