GpuRaySensor.hh

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/*
 * Copyright 2012 Nate Koenig
 *
 * 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.
 *
*/
/* Desc: RaySensor proximity sensor
 * Author: Mihai Emanuel Dolha
 * Date: 29 March 2012
*/

#ifndef _GPURAYSENSOR_HH_
#define _GPURAYSENSOR_HH_

#include <vector>
#include <string>

#include "math/Angle.hh"
#include "math/Pose.hh"
#include "transport/TransportTypes.hh"
#include "sensors/Sensor.hh"
#include "rendering/RenderTypes.hh"

namespace gazebo
{
  namespace sensors
  {
    class GpuRaySensor: public Sensor
    {
      public: GpuRaySensor();

      public: virtual ~GpuRaySensor();

      public: virtual void Load(const std::string &_worldName,
                                sdf::ElementPtr &_sdf);

      public: virtual void Load(const std::string &_worldName);

      public: virtual void Init();

      protected: virtual void UpdateImpl(bool _force);

      protected: virtual void Fini();

      public: rendering::GpuLaserPtr GetLaserCamera() const
              {return this->laserCam;}

      public: math::Angle GetAngleMin() const;

      public: void SetAngleMin(double _angle);

      public: math::Angle GetAngleMax() const;

      public: void SetAngleMax(double _angle);

      public: double GetAngleResolution() const;

      public: double GetRangeMin() const;

      public: double GetRangeMax() const;

      public: double GetRangeResolution() const;

      public: int GetRayCount() const;

      public: int GetRangeCount() const;

      public: int GetVerticalRayCount() const;

      public: int GetVerticalRangeCount() const;

      public: math::Angle GetVerticalAngleMin() const;

      public: void SetVerticalAngleMin(double _angle);

      public: math::Angle GetVerticalAngleMax() const;

      public: void SetVerticalAngleMax(double _angle);


      public: double GetRange(int _index);

      public: void GetRanges(std::vector<double> &_ranges);

      public: double GetRetro(int _index);

      public: int GetFiducial(int _index);

      public: unsigned int GetCameraCount();

      public: bool IsHorizontal();

      public: double Get1stRatio();

      public: double Get2ndRatio();

      public: double GetHFOV();

      public: double GetCHFOV();

      public: double GetVFOV();

      public: double GetCVFOV();

      public: double GetHAngle();

      public: double GetVAngle();

      private: void OnPose(ConstPosePtr &_msg);

      public: event::ConnectionPtr ConnectNewLaserFrame(
        boost::function<void(const float *, unsigned int, unsigned int,
        unsigned int, const std::string &)> subscriber);

      public: void DisconnectNewLaserFrame(event::ConnectionPtr &c);

      protected: math::Vector3 offset;
      protected: sdf::ElementPtr rayElem;
      protected: sdf::ElementPtr scanElem;
      protected: sdf::ElementPtr horzElem;
      protected: sdf::ElementPtr vertElem;
      protected: sdf::ElementPtr rangeElem;
      protected: sdf::ElementPtr cameraElem;

      protected: unsigned int cameraCount;

      protected: double hfov, vfov, chfov, cvfov, hang, vang;
      protected: double near, far;
      protected: unsigned int width_1st, height_1st;
      protected: unsigned int width_2nd, height_2nd;
      protected: double ratio_1st, ratio_2nd;
      protected: bool isHorizontal;

      private: rendering::GpuLaserPtr laserCam;
      private: rendering::ScenePtr scene;

      private: transport::PublisherPtr scanPub;
      private: boost::mutex *mutex;
      private: msgs::LaserScan laserMsg;
    };
  }
}

#endif