RFIDSensor.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2015 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 _GAZEBO_RFIDSENSOR_HH_
#define _GAZEBO_RFIDSENSOR_HH_

#include <vector>
#include <string>

#include "gazebo/physics/PhysicsTypes.hh"

#include "gazebo/transport/TransportTypes.hh"

#include "gazebo/math/Pose.hh"

#include "gazebo/sensors/Sensor.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {
    class RFIDTag;


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

      public: virtual ~RFIDSensor();

      // 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
      public: void AddTag(RFIDTag *_tag);

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

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

      private: void EvaluateTags();

      private: bool CheckTagRange(const math::Pose &_pose)
               GAZEBO_DEPRECATED(6.0);

      private: bool CheckTagRange(const ignition::math::Pose3d &_pose);

      private: physics::EntityPtr entity;

      private: transport::PublisherPtr scanPub;

      private: std::vector<RFIDTag*> tags;
    };
  }
}
#endif