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gazebo
rendering
LaserVisual.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: Laser Visualization Class
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* Author: Nate Koenig
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* Date: 14 Dec 2007
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*/
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#ifndef _LASERVISUAL_HH_
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#define _LASERVISUAL_HH_
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#include <string>
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#include "
rendering/Visual.hh
"
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#include "msgs/MessageTypes.hh"
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#include "
transport/TransportTypes.hh
"
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namespace
gazebo
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{
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namespace
rendering
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{
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class
DynamicLines;
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class
LaserVisual
:
public
Visual
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{
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public
:
LaserVisual
(
const
std::string &_name,
VisualPtr
_vis,
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const
std::string &_topicName);
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public
:
virtual
~LaserVisual
();
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public
:
virtual
void
SetEmissive
(
const
common::Color
&_color);
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private
:
void
OnScan(ConstLaserScanPtr &_msg);
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private
:
transport::NodePtr
node;
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private
:
transport::SubscriberPtr
laserScanSub;
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private
:
DynamicLines
*rayFan;
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};
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}
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}
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#endif