RFIDTag.hh
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1 /*
2  * Copyright (C) 2012-2015 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
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: RFID Tag
18  * Author: Jonas Mellin & Zakiruz Zaman
19  * Date: 6th December 2011
20  */
21 
22 #ifndef _RFIDTAG_HH_
23 #define _RFIDTAG_HH_
24 
25 #include <vector>
26 #include <string>
27 
29 #include "gazebo/sensors/Sensor.hh"
30 #include "gazebo/math/gzmath.hh"
31 #include "gazebo/physics/physics.hh"
32 #include "gazebo/util/system.hh"
33 
34 namespace gazebo
35 {
36  namespace sensors
37  {
40 
44  {
46  public: RFIDTag();
47 
49  public: virtual ~RFIDTag();
50 
51  // Documentation inherited
52  public: virtual void Load(const std::string & _worldName,
53  sdf::ElementPtr _sdf);
54 
55  // Documentation inherited
56  public: virtual void Load(const std::string & _worldName);
57 
58  // Documentation inherited
59  public: virtual void Init();
60 
61  // Documentation inherited
62  protected: virtual bool UpdateImpl(bool _force);
63 
64  // Documentation inherited
65  public: virtual void Fini();
66 
69  public: math::Pose GetTagPose() const
70  {return entity->GetWorldPose();}
71 
73  private: physics::EntityPtr entity;
74 
76  private: transport::PublisherPtr scanPub;
77  };
79  }
80 }
81 #endif
Encapsulates a position and rotation in three space.
Definition: Pose.hh:40
Forward declarations for transport.
RFIDTag to interact with RFIDTagSensors.
Definition: RFIDTag.hh:43
math::Pose GetTagPose() const
Returns pose of tag in world coordinate.
Definition: RFIDTag.hh:69
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:74
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
Base class for sensors.
Definition: Sensor.hh:67
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48