GpuRaySensor.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_GPURAYSENSOR_HH_
#define _GAZEBO_SENSORS_GPURAYSENSOR_HH_

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

#include <ignition/math/Angle.hh>
#include <ignition/math/Pose3.hh>

#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {
    // Forward declare private data pointer.
    class GpuRaySensorPrivate;


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

      public: virtual ~GpuRaySensor();

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

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

      public: virtual void Init() override;

      protected: void ResetLastUpdateTime() override;

      protected: bool NeedsUpdate() override;

      public: void Update(bool _force) override;

      public: double NextRequiredTimestamp() const override;

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

      protected: virtual void Fini() override;

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

      public: void SetActive(bool _value) override;

      public: rendering::GpuLaserPtr LaserCamera() const;

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

      public: void SetAngleMin(const double _angle);

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

      public: void SetAngleMax(const double _angle);

      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: void SetVerticalAngleMin(const double _angle);

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

      public: void SetVerticalAngleMax(const double _angle);

      public: double VerticalAngleResolution() const;

      public: double Range(const int _index) const;

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

      public: double Retro(const int _index) const;

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

      public: unsigned int CameraCount() const;

      public: bool IsHorizontal() const;

      public: double RayCountRatio() const;

      public: double RangeCountRatio() const;

      public: double HorzFOV() const;

      public: double CosHorzFOV() const;

      public: double VertFOV() const;

      public: double CosVertFOV() const;

      public: double HorzHalfAngle() const;

      public: double VertHalfAngle() const;

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

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

      private: void Render();

      private: std::unique_ptr<GpuRaySensorPrivate> dataPtr;
    };
  }
}
#endif