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LaserVisual.hh
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1 /*
2  * Copyright (C) 2012-2014 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
14  * limitations under the License.
15  *
16 */
17 /* Desc: Laser Visualization Class
18  * Author: Nate Koenig
19  * Date: 14 Dec 2007
20  */
21 
22 #ifndef _LASERVISUAL_HH_
23 #define _LASERVISUAL_HH_
24 
25 #include <string>
26 
28 #include "gazebo/msgs/MessageTypes.hh"
30 
31 namespace gazebo
32 {
33  namespace rendering
34  {
37 
38  class DynamicLines;
39 
42  class LaserVisual : public Visual
43  {
48  public: LaserVisual(const std::string &_name, VisualPtr _vis,
49  const std::string &_topicName);
50 
52  public: virtual ~LaserVisual();
53 
55  public: virtual void SetEmissive(const common::Color &_color);
56 
58  private: void OnScan(ConstLaserScanStampedPtr &_msg);
59 
61  private: void Update();
62 
64  private: transport::NodePtr node;
65 
67  private: transport::SubscriberPtr laserScanSub;
68 
70  private: DynamicLines *rayFan;
71 
73  private: boost::mutex mutex;
74 
76  private: bool receivedMsg;
77 
79  private: boost::shared_ptr<msgs::LaserScanStamped const> laserMsg;
80 
82  private: event::ConnectionPtr connection;
83  };
85  }
86 }
87 #endif