BulletRaySensor.hh

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Bullet ray sensor
 * Author: Nate Koenig
 * Date: 21 May 2009
 */

#ifndef BULLETRAYSENSOR_HH
#define BULLETRAYSENSOR_HH

#include <vector>
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    class BulletRayCollision;
    class BulletLink;


    class GAZEBO_VISIBLE BulletRaySensor : public PhysicsRaySensor
    {
      public: BulletRaySensor(Link *body);

      public: virtual ~BulletRaySensor();

      public: void AddRay(math::Vector3 start, math::Vector3 end,
                  double minRange, double maxRange, bool display);

      public: int GetCount() const;

      public: void GetRelativePoints(int index, math::Vector3 &a,
                                     math::Vector3 &b);

      public: double GetRange(int index) const;

      public: double GetRetro(int index) const;

      public: double GetFiducial(int index) const;

      public: virtual void Update();

      private: std::vector<BulletRayCollision*> rays;

      private: BulletLink *body;
    };
  }
}
#endif