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SonarVisual.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
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 
18 #ifndef _SONARVISUAL_HH_
19 #define _SONARVISUAL_HH_
20 
21 #include <string>
22 #include <vector>
23 
25 #include "gazebo/msgs/MessageTypes.hh"
27 
28 namespace gazebo
29 {
30  namespace rendering
31  {
34 
35  class DynamicLines;
36 
39  class SonarVisual : public Visual
40  {
45  public: SonarVisual(const std::string &_name, VisualPtr _vis,
46  const std::string &_topicName);
47 
49  public: virtual ~SonarVisual();
50 
51  // Documentation inherited
52  public: virtual void Load();
53 
55  private: void Update();
56 
58  private: void OnMsg(ConstSonarStampedPtr &_msg);
59 
61  private: transport::NodePtr node;
62 
64  private: transport::SubscriberPtr sonarSub;
65 
67  private: DynamicLines *sonarRay;
68 
70  private: Ogre::SceneNode *coneNode;
71 
73  private: boost::shared_ptr<msgs::SonarStamped const> sonarMsg;
74 
76  private: std::vector<event::ConnectionPtr> connections;
77 
79  private: boost::mutex mutex;
80 
82  private: bool receivedMsg;
83  };
85  }
86 }
87 #endif