18 #ifndef _SONARSENSOR_HH_
19 #define _SONARSENSOR_HH_
51 public:
virtual void Load(
const std::string &_worldName);
54 public:
virtual void Init();
57 protected:
virtual void UpdateImpl(
bool _force);
60 protected:
virtual void Fini();
63 public:
virtual std::string
GetTopic()
const;
93 public:
template<
typename T>
103 private:
void OnContacts(ConstContactsPtr &_msg);
121 private: msgs::SonarStamped sonarMsg;
124 private: boost::mutex mutex;
127 typedef std::list<boost::shared_ptr<msgs::Contacts const> > ContactMsgs_L;
130 private: ContactMsgs_L incomingContacts;
136 private:
double rangeMin;
139 private:
double rangeMax;
142 private:
double radius;