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GpuRaySensor.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: RaySensor proximity sensor
18  * Author: Mihai Emanuel Dolha
19  * Date: 29 March 2012
20 */
21 
22 #ifndef _GPURAYSENSOR_HH_
23 #define _GPURAYSENSOR_HH_
24 
25 #include <vector>
26 #include <string>
27 
28 #include "math/Angle.hh"
29 #include "math/Pose.hh"
31 #include "sensors/Sensor.hh"
32 #include "rendering/RenderTypes.hh"
33 
34 namespace gazebo
35 {
38  namespace sensors
39  {
48  class GpuRaySensor: public Sensor
49  {
51  public: GpuRaySensor();
52 
54  public: virtual ~GpuRaySensor();
55 
59  public: virtual void Load(const std::string &_worldName,
60  sdf::ElementPtr &_sdf);
61 
64  public: virtual void Load(const std::string &_worldName);
65 
67  public: virtual void Init();
68 
71  protected: virtual void UpdateImpl(bool _force);
72 
74  protected: virtual void Fini();
75 
79  {return this->laserCam;}
80 
83  public: math::Angle GetAngleMin() const;
84 
87  public: void SetAngleMin(double _angle);
88 
91  public: math::Angle GetAngleMax() const;
92 
95  public: void SetAngleMax(double _angle);
96 
98  public: double GetAngleResolution() const;
99 
102  public: double GetRangeMin() const;
103 
106  public: double GetRangeMax() const;
107 
115  public: double GetRangeResolution() const;
116 
119  public: int GetRayCount() const;
120 
123  public: int GetRangeCount() const;
124 
127  public: int GetVerticalRayCount() const;
128 
131  public: int GetVerticalRangeCount() const;
132 
135  public: math::Angle GetVerticalAngleMin() const;
136 
139  public: void SetVerticalAngleMin(double _angle);
140 
143  public: math::Angle GetVerticalAngleMax() const;
144 
147  public: void SetVerticalAngleMax(double _angle);
148 
149 
159  public: double GetRange(int _index);
160 
163  public: void GetRanges(std::vector<double> &_ranges);
164 
174  public: double GetRetro(int _index);
175 
185  public: int GetFiducial(int _index);
186 
189  public: unsigned int GetCameraCount();
190 
193  public: bool IsHorizontal();
194 
198  public: double Get1stRatio();
199 
202  public: double Get2ndRatio();
203 
206  public: double GetHFOV();
207 
210  public: double GetCHFOV();
211 
214  public: double GetVFOV();
215 
218  public: double GetCVFOV();
219 
222  public: double GetHAngle();
223 
226  public: double GetVAngle();
227 
230  private: void OnPose(ConstPosePtr &_msg);
231 
235  boost::function<void(const float *, unsigned int, unsigned int,
236  unsigned int, const std::string &)> subscriber);
237 
241 
242  protected: math::Vector3 offset;
249 
250  protected: unsigned int cameraCount;
251 
252  protected: double hfov, vfov, chfov, cvfov, hang, vang;
253  protected: double near, far;
254  protected: unsigned int width_1st, height_1st;
255  protected: unsigned int width_2nd, height_2nd;
256  protected: double ratio_1st, ratio_2nd;
257  protected: bool isHorizontal;
258 
259  private: rendering::GpuLaserPtr laserCam;
260  private: rendering::ScenePtr scene;
261 
262  private: transport::PublisherPtr scanPub;
263  private: boost::mutex *mutex;
264  private: msgs::LaserScan laserMsg;
265  };
267  }
268 }
269 
270 #endif