86 lines
2.4 KiB
C++
86 lines
2.4 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_SENSORS_RFIDSENSOR_HH_
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#define _GAZEBO_SENSORS_RFIDSENSOR_HH_
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#include <memory>
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#include <string>
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#include "gazebo/sensors/Sensor.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \ingroup gazebo_sensors
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/// \brief Sensors namespace
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namespace sensors
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{
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class RFIDTag;
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// Forward declare private data class.
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class RFIDSensorPrivate;
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/// \addtogroup gazebo_sensors
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/// \{
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/// \class RFIDSensor RFIDSensor.hh sensors/sensors.hh
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/// \brief Sensor class for RFID type of sensor
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class GAZEBO_VISIBLE RFIDSensor: public Sensor
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{
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/// \brief Constructor
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public: RFIDSensor();
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/// \brief Destructor
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public: virtual ~RFIDSensor();
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// Documentation inherited
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public: virtual void Load(const std::string &_worldName,
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sdf::ElementPtr _sdf);
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// Documentation inherited
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public: virtual void Load(const std::string &_worldName);
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// Documentation inherited
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public: virtual void Init();
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// Documentation inherited
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public: void AddTag(RFIDTag *_tag);
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// Documentation inherited.
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protected: virtual bool UpdateImpl(const bool _force);
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// Documentation inherited
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public: virtual void Fini();
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/// \brief Iterates through all the RFID tags, and finds the ones which
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/// are in range of the sensor.
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private: void EvaluateTags();
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/// \brief Check the range for one RFID tag.
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/// \param[in] _pose Pose of a tag.
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/// \return Checks if tag is in range
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private: bool CheckTagRange(const ignition::math::Pose3d &_pose);
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<RFIDSensorPrivate> dataPtr;
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};
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/// \}
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}
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}
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#endif
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