GpuRaySensor.hh

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/*
 * Copyright 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.
 *
*/
/* Desc: RaySensor proximity sensor
 * Author: Mihai Emanuel Dolha
 * Date: 29 March 2012
*/

#ifndef _GPURAYSENSOR_HH_
#define _GPURAYSENSOR_HH_

#include <vector>
#include <string>
#include <boost/thread/mutex.hpp>

#include "gazebo/math/Angle.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/rendering/RenderTypes.hh"

namespace gazebo
{
  namespace sensors
  {
    class GpuRaySensor: public Sensor
    {
      public: GpuRaySensor();

      public: virtual ~GpuRaySensor();

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

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

      public: virtual void Init();

      protected: virtual void UpdateImpl(bool _force);

      protected: virtual void Fini();

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

      public: rendering::GpuLaserPtr GetLaserCamera() const
              {return this->laserCam;}

      public: math::Angle GetAngleMin() const;

      public: void SetAngleMin(double _angle);

      public: math::Angle GetAngleMax() const;

      public: void SetAngleMax(double _angle);

      public: double GetAngleResolution() const;

      public: double GetRangeMin() const;

      public: double GetRangeMax() const;

      public: double GetRangeResolution() const;

      public: int GetRayCount() const;

      public: int GetRangeCount() const;

      public: int GetVerticalRayCount() const;

      public: int GetVerticalRangeCount() const;

      public: math::Angle GetVerticalAngleMin() const;

      public: void SetVerticalAngleMin(double _angle);

      public: math::Angle GetVerticalAngleMax() const;

      public: void SetVerticalAngleMax(double _angle);

      public: double GetRange(int _index);

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

      public: double GetRetro(int _index) const;

      public: int GetFiducial(int _index) const;

      public: unsigned int GetCameraCount() const;

      public: bool IsHorizontal() const;

      public: double GetRayCountRatio() const;

      public: double GetRangeCountRatio() const;

      public: double GetHorzFOV() const;

      public: double GetCosHorzFOV() const;

      public: double GetVertFOV() const;

      public: double GetCosVertFOV() const;

      public: double GetHorzHalfAngle() const;

      public: double GetVertHalfAngle() const;

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

      public: void DisconnectNewLaserFrame(event::ConnectionPtr &_conn);

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

      protected: sdf::ElementPtr scanElem;

      protected: sdf::ElementPtr horzElem;

      protected: sdf::ElementPtr vertElem;

      protected: sdf::ElementPtr rangeElem;

      protected: sdf::ElementPtr cameraElem;

      protected: unsigned int horzRayCount;

      protected: unsigned int vertRayCount;

      protected: unsigned int horzRangeCount;

      protected: unsigned int vertRangeCount;

      protected: double rangeCountRatio;

      private: rendering::GpuLaserPtr laserCam;

      private: rendering::ScenePtr scene;

      private: boost::mutex mutex;

      private: msgs::LaserScanStamped laserMsg;

      private: physics::EntityPtr parentEntity;

      private: transport::PublisherPtr scanPub;

      // Which noise type we support
      private: enum NoiseModelType
      {
        NONE,
        GAUSSIAN
      };

      // If true, apply the noise model specified by other noise parameters
      private: bool noiseActive;

      // Which type of noise we're applying
      private: enum NoiseModelType noiseType;

      // If noiseType==GAUSSIAN, noiseMean is the mean of the distibution
      // from which we sample
      private: double noiseMean;

      // If noiseType==GAUSSIAN, noiseStdDev is the standard devation of
      // the distibution from which we sample
      private: double noiseStdDev;
    };
  }
}
#endif