SonarSensor.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 _SONARSENSOR_HH_
#define _SONARSENSOR_HH_

#include <string>
#include <list>

#include "gazebo/math/Angle.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {

    class GAZEBO_VISIBLE SonarSensor: public Sensor
    {
      public: SonarSensor();

      public: virtual ~SonarSensor();

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

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

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

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

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

      public: double GetRangeMin() const;

      public: double GetRangeMax() const;

      public: double GetRadius() const;

      public: double GetRange();

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

      public: template<typename T>
              event::ConnectionPtr ConnectUpdate(T _subscriber)
              {return update.Connect(_subscriber);}

      public: void DisconnectUpdate(event::ConnectionPtr &_conn)
              {update.Disconnect(_conn);}

      private: void OnContacts(ConstContactsPtr &_msg);

      private: physics::CollisionPtr sonarCollision;

      private: physics::MeshShapePtr sonarShape;

      private: physics::EntityPtr parentEntity;

      private: transport::SubscriberPtr contactSub;

      private: transport::PublisherPtr sonarPub;

      private: msgs::SonarStamped sonarMsg;

      private: boost::mutex mutex;

      typedef std::list<boost::shared_ptr<msgs::Contacts const> > ContactMsgs_L;

      private: ContactMsgs_L incomingContacts;

      private: math::Pose sonarMidPose;

      private: double rangeMin;

      private: double rangeMax;

      private: double radius;

      protected: event::EventT<void(msgs::SonarStamped)> update;
    };
  }
}
#endif