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DepthCameraSensor.hh
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1 /*
2  * Copyright 2012 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A persepective X11 OpenGL Camera Sensor
18  * Author: Nate Koenig
19  * Date: 15 July 2003
20  */
21 
22 #ifndef _DEPTHCAMERASENSOR_HH_
23 #define _DEPTHCAMERASENSOR_HH_
24 
25 #include <string>
26 
27 #include "sensors/Sensor.hh"
28 #include "msgs/MessageTypes.hh"
29 #include "rendering/RenderTypes.hh"
30 
31 namespace gazebo
32 {
35  namespace sensors
36  {
43  class DepthCameraSensor : public Sensor
44  {
46  public: DepthCameraSensor();
47 
49  public: virtual ~DepthCameraSensor();
50 
53  public: virtual void SetParent(const std::string &_name);
54 
58  protected: virtual void Load(const std::string &_worldName,
59  sdf::ElementPtr &_sdf);
60 
63  protected: virtual void Load(const std::string &_worldName);
64 
66  protected: virtual void Init();
67 
70  protected: virtual void UpdateImpl(bool _force);
71 
73  protected: virtual void Fini();
74 
77  public: virtual void SetActive(bool _value);
78 
82  {return this->camera;}
83 
87  public: bool SaveFrame(const std::string &_filename);
88 
92  private: void OnPose(ConstPosePtr &_msg);
93 
94  private: rendering::DepthCameraPtr camera;
95 
96  private: rendering::ScenePtr scene;
97  };
99  }
100 }
101 #endif
102 
103