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17 #ifndef GZ_SENSORS_GPULIDARSENSOR_HH_
18 #define GZ_SENSORS_GPULIDARSENSOR_HH_
25 #include <gz/common/SuppressWarning.hh>
31 #pragma warning(disable: 4251)
33 #include <gz/rendering/GpuRays.hh>
38 #include "gz/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(gz::rendering::ScenePtr _scene)
override;
102 public:
void RemoveGpuRays(gz::rendering::ScenePtr _scene);
106 public: gz::rendering::GpuRaysPtr GpuRays()
const;
114 public:
double RayCountRatio()
const;
118 public: gz::math::Angle HFOV()
const;
122 public: gz::math::Angle VFOV()
const;
127 public:
bool HasConnections()
const;
131 public:
virtual gz::common::ConnectionPtr ConnectNewLidarFrame(
133 unsigned int _heighti,
unsigned int _channels,
138 private:
void OnNewLidarFrame(
const float *_scan,
unsigned int _width,
139 unsigned int _heighti,
unsigned int _channels,
142 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
146 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
Definition: gz/sensors/AirPressureSensor.hh:31
GpuLidar Sensor Class.
Definition: gz/sensors/GpuLidarSensor.hh:61
Lidar Sensor Class.
Definition: gz/sensors/Lidar.hh:49