RaySensor.hh

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/*
 * Copyright (C) 2012 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 _GAZEBO_SENSORS_RAYSENSOR_HH_
#define _GAZEBO_SENSORS_RAYSENSOR_HH_

#include <memory>
#include <string>
#include <vector>

#include <ignition/math/Angle.hh>

#include "gazebo/sensors/Sensor.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  class OgreDynamicLines;
  class Collision;
  class MultiRayShape;

  namespace sensors
  {
    // Forward declare private data class.
    class RaySensorPrivate;


    class GZ_SENSORS_VISIBLE RaySensor: public Sensor
    {
      public: RaySensor();

      public: virtual ~RaySensor();

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

      // Documentation inherited
      public: virtual void Init();

      // Documentation inherited
      protected: virtual bool UpdateImpl(const bool _force);

      // Documentation inherited
      protected: virtual void Fini();

      // Documentation inherited
      public: virtual std::string Topic() const;

      public: ignition::math::Angle AngleMin() const;

      public: ignition::math::Angle AngleMax() const;

      public: double AngleResolution() const;

      public: double RangeMin() const;

      public: double RangeMax() const;

      public: double RangeResolution() const;

      public: int RayCount() const;

      public: int RangeCount() const;

      public: int VerticalRayCount() const;

      public: int VerticalRangeCount() const;

      public: ignition::math::Angle VerticalAngleMin() const;

      public: ignition::math::Angle VerticalAngleMax() const;

      public: double VerticalAngleResolution() const;

      public: double Range(const unsigned int _index) const;

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

      public: double Retro(const unsigned int _index) const;

      public: int Fiducial(const unsigned int _index) const;

      public: physics::MultiRayShapePtr LaserShape() const;

      // Documentation inherited
      public: virtual bool IsActive() const;

      private: std::unique_ptr<RaySensorPrivate> dataPtr;
    };
  }
}

#endif