src/systems/logical_audio_sensor_plugin/LogicalAudio.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2020 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef IGNITION_GAZEBO_SYSTEMS_LOGICAL_AUDIO_SENSOR_PLUGIN_LOGICALAUDIO_HH_
#define IGNITION_GAZEBO_SYSTEMS_LOGICAL_AUDIO_SENSOR_PLUGIN_LOGICALAUDIO_HH_

#include <string>

#include <ignition/gazebo/components/LogicalAudio.hh>
#include <ignition/gazebo/config.hh>
#include <ignition/math/Pose3.hh>

namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace logical_audio
{
  bool detect(double _volumeLevel, double _volumeDetectionThreshold);

  double computeVolume(bool _playing,
      AttenuationFunction _attenuationFunc,
      AttenuationShape _attenuationShape,
      double _sourceEmissionVolume,
      double _innerRadius,
      double _falloffDistance,
      const ignition::math::Pose3d &_sourcePose,
      const ignition::math::Pose3d &_targetPose);

  void setAttenuationFunction(AttenuationFunction &_attenuationFunc,
      std::string _str);

  void setAttenuationShape(AttenuationShape &_attenuationShape,
      std::string _str);

  void validateInnerRadiusAndFalloffDistance(double &_innerRadius,
      double &_falloffDistance);

  void validateVolumeLevel(double &_volumeLevel);
}
}
}
}

#endif