GpuRaySensorPrivate.hh

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/*
 * 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_SENSORS_GPURAYENSOR_PRIVATE_HH_
#define _GAZEBO_SENSORS_GPURAYENSOR_PRIVATE_HH_

#include <mutex>
#include <sdf/sdf.hh>

#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/msgs/msgs.hh"

namespace gazebo
{
  namespace sensors
  {
    class GpuRaySensorPrivate
    {
      public: sdf::ElementPtr scanElem;

      public: sdf::ElementPtr horzElem;

      public: sdf::ElementPtr vertElem;

      public: sdf::ElementPtr rangeElem;

      public: sdf::ElementPtr cameraElem;

      public: unsigned int horzRayCount;

      public: unsigned int vertRayCount;

      public: unsigned int horzRangeCount;

      public: unsigned int vertRangeCount;

      public: double rangeCountRatio;

      public: rendering::GpuLaserPtr laserCam;

      public: std::mutex mutex;

      public: msgs::LaserScanStamped laserMsg;

      public: physics::EntityPtr parentEntity;

      public: transport::PublisherPtr scanPub;

      public: bool rendered;
    };
  }
}
#endif