GpuLaserPrivate.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2015-2016 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_RENDERING_GPULASER_PRIVATE_HH_
#define _GAZEBO_RENDERING_GPULASER_PRIVATE_HH_

#include <string>
#include <vector>

#include "gazebo/rendering/RenderTypes.hh"

#include "gazebo/common/Event.hh"

namespace Ogre
{
  class Camera;
  class Material;
  class MovableObject;
  class RenderTarget;
  class SceneNode;
  class Texture;
  class Viewport;
}

namespace gazebo
{
  namespace common
  {
    class Mesh;
  }

  namespace rendering
  {
    class GpuLaserPrivate
    {
      public: event::EventT<void(const float *_frame, unsigned int _width,
                   unsigned int _height, unsigned int _depth,
                   const std::string &_format)> newLaserFrame;

      public: float *laserBuffer;

      public: float *laserScan;

      public: Ogre::Material *matFirstPass;

      public: Ogre::Material *matSecondPass;

      public: Ogre::Texture *firstPassTextures[3];

      public: Ogre::Texture *secondPassTexture;

      public: Ogre::RenderTarget *firstPassTargets[3];

      public: Ogre::RenderTarget *secondPassTarget;

      public: Ogre::Viewport *firstPassViewports[3];

      public: Ogre::Viewport *secondPassViewport;

      public: unsigned int textureCount;

      public: double cameraYaws[4];

      public: Ogre::RenderTarget *currentTarget;

      public: Ogre::Material *currentMat;

      public: Ogre::Camera *orthoCam;

      public: Ogre::SceneNode *pitchNodeOrtho;

      public: common::Mesh *undistMesh;

      public: Ogre::MovableObject *object;

      public: VisualPtr visual;

      public: unsigned int w2nd;

      public: unsigned int h2nd;

      public: double lastRenderDuration;

      public: std::vector<int> texIdx;

      public: static int texCount;
    };
  }
}
#endif