gz/sensors/LogicalCameraSensor.hh

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/*
 * Copyright (C) 2019 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 GZ_SENSORS_LOGICALCAMERASENSOR_HH_
#define GZ_SENSORS_LOGICALCAMERASENSOR_HH_
 
#include <map>
#include <memory>
#include <string>
 
#include <sdf/sdf.hh>
 
#include <gz/utils/SuppressWarning.hh>
 
#include <gz/math/Angle.hh>
 
#include <gz/msgs/logical_camera_image.pb.h>
 
#include "gz/sensors/config.hh"
#include "gz/sensors/Export.hh"
#include "gz/sensors/logical_camera/Export.hh"
#include "gz/sensors/Sensor.hh"
 
namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
    //
    class LogicalCameraSensorPrivate;
 
    class GZ_SENSORS_LOGICAL_CAMERA_VISIBLE LogicalCameraSensor
      : public Sensor
    {
      public: LogicalCameraSensor();
 
      public: virtual ~LogicalCameraSensor();
 
      public: virtual bool Load(sdf::ElementPtr _sdf) override;
 
      public: virtual bool Init() override;
 
      using Sensor::Update;
 
      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;
 
      public: double Near() const;
 
      public: double Far() const;
 
      public: void SetModelPoses(std::map<std::string, math::Pose3d> &&_models);
 
      public: gz::math::Angle HorizontalFOV() const;
 
      public: double AspectRatio() const;
 
      public: virtual bool HasConnections() const override;
 
      public: msgs::LogicalCameraImage Image() const;
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<LogicalCameraSensorPrivate> dataPtr;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}
 
#endif