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gazebo
sensors
RFIDTag.hh
Go to the documentation of this file.
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/* Copyright (C) 2012
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* Jonas Mellin & Zakiruz Zaman
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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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/* Desc: RFID Tag
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* Author: Jonas Mellin & Zakiruz Zaman
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* Date: 6th December 2011
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*/
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#ifndef _RFIDTAG_HH_
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#define _RFIDTAG_HH_
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#include <vector>
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#include <string>
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#include "
gazebo/transport/TransportTypes.hh
"
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#include "
gazebo/sensors/Sensor.hh
"
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#include "gazebo/math/gzmath.hh"
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#include "gazebo/physics/physics.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
RFIDTag
:
public
Sensor
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{
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public
:
RFIDTag
();
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public
:
virtual
~RFIDTag
();
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// Documentation inherited
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public
:
virtual
void
Load
(
const
std::string & _worldName,
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sdf::ElementPtr
&_sdf);
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// Documentation inherited
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public
:
virtual
void
Load
(
const
std::string & _worldName);
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// Documentation inherited
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public
:
virtual
void
Init
();
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// Documentation inherited
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protected
:
virtual
void
UpdateImpl
(
bool
_force);
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// Documentation inherited
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public
:
virtual
void
Fini
();
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public
:
math::Pose
GetTagPose
()
const
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{
return
entity->
GetWorldPose
();}
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private
:
physics::EntityPtr
entity;
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private
:
transport::PublisherPtr
scanPub;
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};
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}
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}
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#endif