GpuLidarSensor.hh

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/*
 * Copyright (C) 2018 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_GPULIDARSENSOR_HH_
#define GZ_SENSORS_GPULIDARSENSOR_HH_
 
#include <memory>
#include <string>
 
#include <sdf/sdf.hh>
 
#include <gz/utils/SuppressWarning.hh>
 
// TODO(louise) Remove these pragmas once gz-rendering is disabling the
// warnings
#ifdef _WIN32
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
#include <gz/rendering/GpuRays.hh>
#ifdef _WIN32
#pragma warning(pop)
#endif
 
#include "gz/sensors/gpu_lidar/Export.hh"
#include "gz/sensors/RenderingEvents.hh"
#include "gz/sensors/Lidar.hh"
 
namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
    //
    class GpuLidarSensorPrivate;
 
    class GZ_SENSORS_GPU_LIDAR_VISIBLE GpuLidarSensor : public Lidar
    {
      public: GpuLidarSensor();
 
      public: virtual ~GpuLidarSensor();
 
      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;
 
      public: virtual bool Init() override;
 
      public: virtual bool Load(const sdf::Sensor &_sdf) override;
 
      public: virtual bool Load(sdf::ElementPtr _sdf) override;
 
      public: virtual bool CreateLidar() override;
 
      public: bool IsHorizontal() const;
 
      public: void SetScene(gz::rendering::ScenePtr _scene) override;
 
      public: void RemoveGpuRays(gz::rendering::ScenePtr _scene);
 
      public: gz::rendering::GpuRaysPtr GpuRays() const;
 
      public: double RayCountRatio() const;
 
      public: gz::math::Angle HFOV() const;
 
      public: gz::math::Angle VFOV() const;
 
      public: virtual bool HasConnections() const override;
 
      public: virtual gz::common::ConnectionPtr ConnectNewLidarFrame(
          std::function<void(const float *_scan, unsigned int _width,
                  unsigned int _heighti, unsigned int _channels,
                  const std::string &/*_format*/)> _subscriber) override;
 
      private: void OnNewLidarFrame(const float *_scan, unsigned int _width,
                  unsigned int _heighti, unsigned int _channels,
                  const std::string &_format);
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<GpuLidarSensorPrivate> dataPtr;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}
 
#endif