SonarVisual.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,
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 
18 #ifndef _SONARVISUAL_HH_
19 #define _SONARVISUAL_HH_
20 
21 #include <string>
22 
23 #include "gazebo/msgs/MessageTypes.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace rendering
30  {
33 
36  class GZ_RENDERING_VISIBLE SonarVisual : public Visual
37  {
42  public: SonarVisual(const std::string &_name, VisualPtr _vis,
43  const std::string &_topicName);
44 
46  public: virtual ~SonarVisual();
47 
48  // Documentation inherited
49  public: virtual void Load();
50 
52  private: void Update();
53 
55  private: void OnMsg(ConstSonarStampedPtr &_msg);
56  };
58  }
59 }
60 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A renderable object.
Definition: Visual.hh:59
Visualization for sonar data.
Definition: SonarVisual.hh:36
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:113