MultiRayShape.hh

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/*
 * Copyright (C) 2012-2016 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 _MULTIRAYSHAPE_HH_
#define _MULTIRAYSHAPE_HH_

#include <vector>
#include <string>

#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Angle.hh"

#include "gazebo/physics/Collision.hh"
#include "gazebo/physics/Shape.hh"
#include "gazebo/physics/RayShape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE MultiRayShape : public Shape
    {
      public: explicit MultiRayShape(CollisionPtr _parent);

      public: explicit MultiRayShape(PhysicsEnginePtr _physicsEngine);

      public: virtual ~MultiRayShape();

      public: virtual void Init();

      public: virtual void SetScale(const math::Vector3 &_scale);

      public: double GetRange(unsigned int _index);

      public: double GetRetro(unsigned int _index);

      public: int GetFiducial(unsigned int _index);

      public: double GetMinRange() const;

      public: double GetMaxRange() const;

      public: double GetResRange() const;

      public: int GetSampleCount() const;

      public: double GetScanResolution() const;

      public: math::Angle GetMinAngle() const;

      public: math::Angle GetMaxAngle() const;

      public: int GetVerticalSampleCount() const;

      public: double GetVerticalScanResolution() const;

      public: math::Angle GetVerticalMinAngle() const;

      public: math::Angle GetVerticalMaxAngle() const;

      public: void Update();

      public: void FillMsg(msgs::Geometry &_msg);

      public: virtual void ProcessMsg(const msgs::Geometry &_msg);

      public: virtual double ComputeVolume() const;

      public: template<typename T>
              event::ConnectionPtr ConnectNewLaserScans(T _subscriber)
              {return this->newLaserScans.Connect(_subscriber);}

      public: void DisconnectNewLaserScans(event::ConnectionPtr &_conn)
              {this->newLaserScans.Disconnect(_conn);}

      public: virtual void UpdateRays() = 0;

      public: virtual void AddRay(const math::Vector3 &_start,
                                  const math::Vector3 &_end);

      public: bool SetRay(const unsigned int _rayIndex,
                  const ignition::math::Vector3d &_start,
                  const ignition::math::Vector3d &_end);

      public: unsigned int RayCount() const;

      public: RayShapePtr Ray(const unsigned int _rayIndex) const;

      protected: std::vector<RayShapePtr> rays;

      protected: math::Pose offset;

      protected: sdf::ElementPtr rayElem;

      protected: sdf::ElementPtr scanElem;

      protected: sdf::ElementPtr horzElem;

      protected: sdf::ElementPtr vertElem;

      protected: sdf::ElementPtr rangeElem;

      protected: event::EventT<void()> newLaserScans;

      private: double minRange = 0;

      private: double maxRange = 1000;
    };
  }
}
#endif