GpsSensor.hh

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/*
 * Copyright (C) 2012-2014 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 _GPSSENSOR_HH_
#define _GPSSENSOR_HH_

#include <string>

#include <sdf/sdf.hh>

#include "gazebo/sensors/Sensor.hh"
#include "gazebo/common/CommonTypes.hh"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/sensors/SensorTypes.hh"
#include "gazebo/transport/TransportTypes.hh"

namespace gazebo
{
  namespace sensors
  {

    class GpsSensor: public Sensor
    {
      public: GpsSensor();

      public: virtual ~GpsSensor();

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

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

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

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

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

      public: math::Angle GetLongitude() const;

      public: math::Angle GetLatitude() const;

      public: double GetAltitude() const;

      private: NoisePtr horizontalPositionNoise;

      private: NoisePtr verticalPositionNoise;

      private: NoisePtr horizontalVelocityNoise;

      private: NoisePtr verticalVelocityNoise;

      private: transport::PublisherPtr gpsPub;

      private: std::string topicName;

      private: physics::LinkPtr parentLink;

      private: common::SphericalCoordinatesPtr sphericalCoordinates;

      private: msgs::GPS lastGpsMsg;
    };
  }
}
#endif