Class
List
Heirarchy
Modules
Common
Events
Math
Messages
Physics
Rendering
Sensors
Transport
Links
Gazebo Website
Wiki
Tutorials
Download
All
Classes
Namespaces
Files
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Macros
Groups
Pages
gazebo
sensors
RaySensor.hh
Go to the documentation of this file.
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: Nate Koenig
19
* Date: 23 february 2004
20
*/
21
22
#ifndef RAYSENSOR_HH
23
#define RAYSENSOR_HH
24
25
#include <vector>
26
#include <string>
27
28
#include "
math/Angle.hh
"
29
#include "
math/Pose.hh
"
30
#include "
transport/TransportTypes.hh
"
31
#include "
sensors/Sensor.hh
"
32
33
namespace
gazebo
34
{
35
class
OgreDynamicLines;
36
class
Collision;
37
class
MultiRayShape;
38
41
namespace
sensors
42
{
51
class
RaySensor
:
public
Sensor
52
{
54
public
:
RaySensor
();
55
57
public
:
virtual
~RaySensor
();
58
62
public
:
virtual
void
Load
(
const
std::string &_worldName,
63
sdf::ElementPtr
_sdf);
64
67
public
:
virtual
void
Load
(
const
std::string &_worldName);
68
70
public
:
virtual
void
Init
();
71
73
protected
:
virtual
void
UpdateImpl
(
bool
_force);
74
76
protected
:
virtual
void
Fini
();
77
80
public
:
virtual
std::string
GetTopic
()
const
;
81
84
public
:
math::Angle
GetAngleMin
()
const
;
85
88
public
:
math::Angle
GetAngleMax
()
const
;
89
92
public
:
double
GetAngleResolution
()
const
;
93
96
public
:
double
GetRangeMin
()
const
;
97
100
public
:
double
GetRangeMax
()
const
;
101
104
public
:
double
GetRangeResolution
()
const
;
105
108
public
:
int
GetRayCount
()
const
;
109
112
public
:
int
GetRangeCount
()
const
;
113
116
public
:
int
GetVerticalRayCount
()
const
;
117
120
public
:
int
GetVerticalRangeCount
()
const
;
121
124
public
:
math::Angle
GetVerticalAngleMin
()
const
;
125
128
public
:
math::Angle
GetVerticalAngleMax
()
const
;
129
139
public
:
double
GetRange
(
int
_index);
140
143
public
:
void
GetRanges
(std::vector<double> &_ranges);
144
154
public
:
double
GetRetro
(
int
_index);
155
165
public
:
int
GetFiducial
(
int
_index);
166
169
public
:
physics::MultiRayShapePtr
GetLaserShape
()
const
170
{
return
this->laserShape;}
171
172
private
:
physics::CollisionPtr
laserCollision;
173
private
:
physics::MultiRayShapePtr
laserShape;
174
private
:
physics::EntityPtr
parentEntity;
175
176
private
:
transport::PublisherPtr
scanPub;
177
private
: boost::mutex *mutex;
178
private
: msgs::LaserScan laserMsg;
179
};
181
}
182
}
183
184
#endif