Gazebo Rendering

API Reference

7.4.2
gz/rendering/ogre/OgreLidarVisual.hh
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1 /*
2  * Copyright (C) 2020 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
7  *
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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16 */
17 
18 #ifndef GZ_RENDERING_OGRE_OGRELIDARVISUAL_HH_
19 #define GZ_RENDERING_OGRE_OGRELIDARVISUAL_HH_
20 
21 #include <vector>
22 #include <memory>
27 
28 namespace gz
29 {
30  namespace rendering
31  {
32  inline namespace GZ_RENDERING_VERSION_NAMESPACE {
33  //
34  // Forward declaration
35  class OgreLidarVisualPrivate;
36 
38  class GZ_RENDERING_OGRE_VISIBLE OgreLidarVisual
39  : public BaseLidarVisual<OgreVisual>
40  {
42  protected: OgreLidarVisual();
43 
45  public: virtual ~OgreLidarVisual();
46 
47  // Documentation inherited.
48  public: virtual void Init() override;
49 
50  // Documentation inherited.
51  public: virtual void PreRender() override;
52 
53  // Documentation inherited.
54  public: virtual void Destroy() override;
55 
56  // Documentation inherited
57  public: virtual void Update() override;
58 
59  // Documentation inherited
60  public: virtual void SetPoints(
61  const std::vector<double> &_points) override;
62 
63  // Documentation inherited
64  // This only affects lidar visuals with type LVT_POINTS
65  public: virtual void SetPoints(const std::vector<double> &_points,
66  const std::vector<gz::math::Color> &_colors)
67  override;
68 
69  // Documentation inherited
70  public: virtual void ClearPoints() override;
71 
72  // Documentation inherited
73  public: virtual unsigned int PointCount() const override;
74 
75  // Documentation inherited
76  public: virtual std::vector<double> Points() const override;
77 
79  private: void Create();
80 
82  private: void ClearVisualData();
83 
84  // Documentation inherited
85  public: virtual void SetVisible(bool _visible) override;
86 
88  private: friend class OgreScene;
89 
92  };
93  }
94  }
95 }
96 #endif