LaserVisual.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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17 
18 #ifndef GAZEBO_RENDERING_LASERVISUAL_HH_
19 #define GAZEBO_RENDERING_LASERVISUAL_HH_
20 
21 #include <string>
22 
23 #include <ignition/math/Color.hh>
24 
25 #include "gazebo/msgs/MessageTypes.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace rendering
32  {
35 
38  class GZ_RENDERING_VISIBLE LaserVisual : public Visual
39  {
44  public: LaserVisual(const std::string &_name, VisualPtr _vis,
45  const std::string &_topicName);
46 
48  public: virtual ~LaserVisual();
49 
50  // Documentation inherited
51  public: virtual void SetEmissive(const ignition::math::Color &_color,
52  const bool _cascade = true) override;
53 
55  private: void OnScan(ConstLaserScanStampedPtr &_msg);
56 
58  private: void Update();
59  };
61  }
62 }
63 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
Visualization for laser data.
Definition: LaserVisual.hh:38
rendering
Definition: RenderEngine.hh:31
A renderable object.
Definition: Visual.hh:59
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114