GpuRayPlugin.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16 */
17 
18 #ifndef _GAZEBO_GPU_LASER_PLUGIN_HH_
19 #define _GAZEBO_GPU_LASER_PLUGIN_HH_
20 
21 #include <string>
22 
23 #include "gazebo/common/Plugin.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  class GZ_PLUGIN_VISIBLE GpuRayPlugin : public SensorPlugin
31  {
32  public: GpuRayPlugin();
33 
34  public: virtual ~GpuRayPlugin();
35 
36  public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
37 
38  public: virtual void OnNewLaserFrame(const float *_image,
39  unsigned int _width, unsigned int _height,
40  unsigned int _depth, const std::string &_format);
41 
42  protected: unsigned int width, height/*, depth*/;
43 
45 
46  private: event::ConnectionPtr newLaserFrameConnection;
47  };
48 }
49 #endif
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
Forward declarations for the common classes.
Definition: Animation.hh:26
unsigned int width
Definition: GpuRayPlugin.hh:42
std::shared_ptr< GpuRaySensor > GpuRaySensorPtr
Definition: SensorTypes.hh:100
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
sensors::GpuRaySensorPtr parentSensor
Definition: GpuRayPlugin.hh:44
Definition: GpuRayPlugin.hh:30
A plugin with access to physics::Sensor.
Definition: Plugin.hh:332