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gazebo
sensors
DepthCameraSensor.hh
Go to the documentation of this file.
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/*
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* Copyright 2012 Nate Koenig
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: A persepective X11 OpenGL Camera Sensor
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* Author: Nate Koenig
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* Date: 15 July 2003
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*/
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#ifndef _DEPTHCAMERASENSOR_HH_
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#define _DEPTHCAMERASENSOR_HH_
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#include <string>
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#include "
sensors/Sensor.hh
"
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#include "msgs/MessageTypes.hh"
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#include "
rendering/RenderTypes.hh
"
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namespace
gazebo
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{
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namespace
sensors
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{
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class
DepthCameraSensor
:
public
Sensor
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{
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public
:
DepthCameraSensor
();
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public
:
virtual
~DepthCameraSensor
();
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public
:
virtual
void
SetParent
(
const
std::string &_name);
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protected
:
virtual
void
Load
(
const
std::string &_worldName,
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sdf::ElementPtr
&_sdf);
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protected
:
virtual
void
Load
(
const
std::string &_worldName);
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protected
:
virtual
void
Init
();
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protected
:
virtual
void
UpdateImpl
(
bool
_force);
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protected
:
virtual
void
Fini
();
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public
:
virtual
void
SetActive
(
bool
_value);
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public
:
rendering::DepthCameraPtr
GetDepthCamera
()
const
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{
return
this->camera;}
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public
:
bool
SaveFrame
(
const
std::string &_filename);
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private
:
void
OnPose(ConstPosePtr &_msg);
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private
:
rendering::DepthCameraPtr
camera;
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private
:
rendering::ScenePtr
scene;
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};
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}
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}
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#endif
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