WirelessTransmitter.hh

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/*
 * Copyright (C) 2012-2015 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.
 *
*/
#ifndef _GAZEBO_WIRELESS_TRANSMITTER_HH_
#define _GAZEBO_WIRELESS_TRANSMITTER_HH_

#include <string>
#include "gazebo/physics/physics.hh"
#include "gazebo/sensors/WirelessTransceiver.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {

    class GAZEBO_VISIBLE WirelessTransmitter: public WirelessTransceiver
    {
      public: static const double NEmpty;

      public: static const double NObstacle;

      public: static const double ModelStdDesv;

      public: WirelessTransmitter();

      public: virtual ~WirelessTransmitter();

      // Documentation inherited
      protected: virtual bool UpdateImpl(bool _force);

      // Documentation inherited
      public: virtual void Load(const std::string &_worldName);

      // Documentation inherited
      public: virtual void Init();

      public: std::string GetESSID() const;

      public: double GetFreq() const;

      public: double GetSignalStrength(const math::Pose &_receiver,
          const double _rxGain) GAZEBO_DEPRECATED(6.0);

      public: double SignalStrength(const ignition::math::Pose3d &_receiver,
          const double _rxGain);

      private: static const double Step;

      private: static const double MaxRadius;

      private: std::string essid;

      protected: double freq;

      // \brief Ray used to test for collisions when placing entities
      private: physics::RayShapePtr testRay;

      // \brief When true it will publish the propagation grid to be used
      // by the transmitter visual layer
      private: bool visualize;
    };
  }
}
#endif