17 #ifndef IGNITION_SENSORS_GPULIDARSENSOR_HH_ 18 #define IGNITION_SENSORS_GPULIDARSENSOR_HH_ 25 #include <ignition/common/SuppressWarning.hh> 31 #pragma warning(disable: 4251) 33 #include <ignition/rendering/GpuRays.hh> 38 #include "ignition/sensors/gpu_lidar/Export.hh" 47 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
50 class GpuLidarSensorPrivate;
72 public:
virtual bool Update(
73 const std::chrono::steady_clock::duration &_now)
override;
77 public:
virtual bool Init()
override;
82 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
87 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
90 public:
virtual bool CreateLidar()
override;
94 public:
bool IsHorizontal()
const;
98 public:
void SetScene(ignition::rendering::ScenePtr _scene)
override;
102 public:
void RemoveGpuRays(ignition::rendering::ScenePtr _scene);
106 public: ignition::rendering::GpuRaysPtr GpuRays()
const;
114 public:
double RayCountRatio()
const;
118 public: ignition::math::Angle HFOV()
const;
122 public: ignition::math::Angle VFOV()
const;
126 public:
virtual ignition::common::ConnectionPtr ConnectNewLidarFrame(
128 unsigned int _heighti,
unsigned int _channels,
131 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
135 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
Lidar Sensor Class.
Definition: Lidar.hh:49
GpuLidar Sensor Class.
Definition: GpuLidarSensor.hh:61
Definition: AirPressureSensor.hh:31