GpuLaser.hh

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/*
 * Copyright (C) 2012 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_HH_
#define _GAZEBO_RENDERING_GPULASER_HH_

#include <memory>
#include <string>

#include <sdf/sdf.hh>

#include "gazebo/rendering/ogre_gazebo.h"
#include "gazebo/rendering/Camera.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

namespace Ogre
{
  class Material;
  class Renderable;
  class Pass;
  class AutoParamDataSource;
  class Matrix4;
  class MovableObject;
}

namespace gazebo
{
  namespace common
  {
    class Mesh;
  }

  namespace rendering
  {
    // Forward declare private data.
    class GpuLaserPrivate;


    class GZ_RENDERING_VISIBLE GpuLaser
      : public Camera, public Ogre::RenderObjectListener
    {
      public: GpuLaser(const std::string &_namePrefix,
          ScenePtr _scene, const bool _autoRender = true);

      public: virtual ~GpuLaser();

      // Documentation inherited
      public: virtual void Load(sdf::ElementPtr _sdf);

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

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

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

      public: void CreateLaserTexture(const std::string &_textureName);

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

      public: const float *LaserData() const;

      public: event::ConnectionPtr ConnectNewLaserFrame(
                  std::function<void (const float *_frame, unsigned int _width,
                  unsigned int _height, unsigned int _depth,
                  const std::string &_format)> _subscriber);

      public: void DisconnectNewLaserFrame(event::ConnectionPtr &_c)
              GAZEBO_DEPRECATED(8.0);

      public: void SetRangeCount(const unsigned int _w,
          const unsigned int _h = 1);

      public: virtual void notifyRenderSingleObject(Ogre::Renderable *_rend,
              const Ogre::Pass *_p, const Ogre::AutoParamDataSource *_s,
              const Ogre::LightList *_ll, bool _supp);

      public: double HorzHalfAngle() const;

      public: double VertHalfAngle() const;

      public: void SetHorzHalfAngle(const double _angle);

      public: void SetVertHalfAngle(const double _angle);

      public: void SetIsHorizontal(const bool _horizontal);

      public: bool IsHorizontal() const;

      public: double HorzFOV() const;

      public: double CosHorzFOV() const;

      public: void SetCosHorzFOV(const double _chfov);

      public: double VertFOV() const;

      public: double CosVertFOV() const;

      public: void SetCosVertFOV(const double _cvfov);

      public: double NearClip() const;

      public: double FarClip() const;

      public: void SetNearClip(const double _near);

      public: void SetFarClip(const double _far);

      public: void SetHorzFOV(const double _hfov);

      public: void SetVertFOV(const double _vfov);

      public: unsigned int CameraCount() const;

      public: void SetCameraCount(const unsigned int _cameraCount);

      public: double RayCountRatio() const;

      public: void SetRayCountRatio(const double _rayCountRatio);

      // Documentation inherited.
      private: virtual void RenderImpl();

      private: void UpdateRenderTarget(Ogre::RenderTarget *_target,
                                       Ogre::Material *_material,
                                       Ogre::Camera *_cam,
                                       const bool _updateTex = false);

      private: void CreateOrthoCam();

      private: void CreateMesh();

      private: void CreateCanvas();

      private: Ogre::Matrix4 BuildScaledOrthoMatrix(const float _left,
          const float _right, const float _bottom, const float _top,
          const float _near, const float _far);

      private: virtual void Set1stPassTarget(Ogre::RenderTarget *_target,
                                             const unsigned int _index);

      private: virtual void Set2ndPassTarget(Ogre::RenderTarget *_target);

      protected: double horzHalfAngle;

      protected: double vertHalfAngle;

      protected: double rayCountRatio;

      protected: double hfov;

      protected: double vfov;

      protected: double chfov;

      protected: double cvfov;

      protected: double nearClip;

      protected: double farClip;

      protected: bool isHorizontal;

      protected: unsigned int cameraCount;

      private: std::unique_ptr<GpuLaserPrivate> dataPtr;
    };
  }
}
#endif