272 lines
10 KiB
C++
272 lines
10 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_RAYSENSOR_HH_
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#define _GAZEBO_SENSORS_RAYSENSOR_HH_
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#include <memory>
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#include <string>
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#include <vector>
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#include <ignition/math/Angle.hh>
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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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class OgreDynamicLines;
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class Collision;
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class MultiRayShape;
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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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// Forward declare private data class.
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class RaySensorPrivate;
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/// \addtogroup gazebo_sensors
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/// \{
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/// \class RaySensor RaySensor.hh sensors/sensors.hh
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/// \brief Sensor with one or more rays.
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///
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/// This sensor cast rays into the world, tests for intersections, and
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/// reports the range to the nearest object. It is used by ranging
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/// sensor models (e.g., sonars and scanning laser range finders).
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class GAZEBO_VISIBLE RaySensor: public Sensor
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{
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/// \brief Constructor
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public: RaySensor();
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/// \brief Destructor
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public: virtual ~RaySensor();
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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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protected: virtual bool UpdateImpl(const bool _force);
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// Documentation inherited
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protected: virtual void Fini();
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// Documentation inherited
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public: virtual std::string Topic() const;
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/// \brief Get the minimum angle
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/// \return The minimum angle object
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public: ignition::math::Angle AngleMin() const;
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/// \brief Get the maximum angle
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/// \return the maximum angle object
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public: ignition::math::Angle AngleMax() const;
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/// \brief Get the angle in radians between each range
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/// \return Resolution of the angle
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/// \deprecated See AngleResolution()
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public: double GetAngleResolution() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the angle in radians between each range
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/// \return Resolution of the angle
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public: double AngleResolution() const;
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/// \brief Get the minimum range
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/// \return The minimum range
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/// \deprecated See RangeMin()
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public: double GetRangeMin() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the minimum range
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/// \return The minimum range
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public: double RangeMin() const;
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/// \brief Get the maximum range
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/// \return The maximum range
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/// \deprecated See RangeMax()
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public: double GetRangeMax() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the maximum range
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/// \return The maximum range
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public: double RangeMax() const;
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/// \brief Get the range resolution
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/// \return Resolution of the range
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/// \deprecated See RangeResolution()
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public: double GetRangeResolution() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the range resolution
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/// \return Resolution of the range
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public: double RangeResolution() const;
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/// \brief Get the ray count
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/// \return The number of rays
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/// \deprecated See RayCount()
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public: int GetRayCount() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the ray count
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/// \return The number of rays
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public: int RayCount() const;
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/// \brief Get the range count
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/// \return The number of ranges
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/// \deprecated See RangeCount
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public: int GetRangeCount() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the range count
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/// \return The number of ranges
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public: int RangeCount() const;
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/// \brief Get the vertical scan line count
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/// \return The number of scan lines vertically
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/// \deprecated See VerticalRayCount()
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public: int GetVerticalRayCount() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the vertical scan line count
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/// \return The number of scan lines vertically
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public: int VerticalRayCount() const;
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/// \brief Get the vertical scan line count
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/// \return The number of scan lines vertically
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/// \deprecated See VerticalRangeCount();
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public: int GetVerticalRangeCount() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the vertical scan line count
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/// \return The number of scan lines vertically
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public: int VerticalRangeCount() const;
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/// \brief Get the vertical scan bottom angle
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/// \return The minimum angle of the scan block
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public: ignition::math::Angle VerticalAngleMin() const;
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/// \brief Get the vertical scan line top angle
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/// \return The Maximum angle of the scan block
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public: ignition::math::Angle VerticalAngleMax() const;
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/// \brief Get the vertical angle in radians between each range
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/// \return Resolution of the angle
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/// \deprecated See VerticalAngleResolution()
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public: double GetVerticalAngleResolution() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the vertical angle in radians between each range
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/// \return Resolution of the angle
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public: double VerticalAngleResolution() const;
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/// \brief Get detected range for a ray.
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/// Warning: If you are accessing all the ray data in a loop
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/// it's possible that the Ray will update in the middle of
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/// your access loop. This means some data will come from one
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/// scan, and some from another scan. You can solve this
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/// problem by using SetActive(false) <your accessor loop>
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/// SetActive(true).
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/// \param[in] _index Index of specific ray
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/// \return Returns RangeMax for no detection.
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/// \deprecated See Range(unsigned int _index)
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public: double GetRange(unsigned int _index) GAZEBO_DEPRECATED(7.0);
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/// \brief Get detected range for a ray.
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/// Warning: If you are accessing all the ray data in a loop
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/// it's possible that the Ray will update in the middle of
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/// your access loop. This means some data will come from one
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/// scan, and some from another scan. You can solve this
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/// problem by using SetActive(false) <your accessor loop>
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/// SetActive(true).
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/// \param[in] _index Index of specific ray
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/// \return Returns RangeMax for no detection.
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public: double Range(const unsigned int _index) const;
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/// \brief Get all the ranges
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/// \param _ranges A vector that will contain all the range data
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/// \deprecated See Ranges(std::vector<double> &_ranges)
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public: void GetRanges(std::vector<double> &_ranges)
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get all the ranges
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/// \param[out] _ranges A vector that will contain all the range data
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public: void Ranges(std::vector<double> &_ranges) const;
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/// \brief Get detected retro (intensity) value for a ray.
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/// Warning: If you are accessing all the ray data in a loop
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/// it's possible that the Ray will update in the middle of
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/// your access loop. This means some data will come from one
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/// scan, and some from another scan. You can solve this
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/// problem by using SetActive(false) <your accessor loop>
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/// SetActive(true).
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/// \param[in] _index Index of specific ray
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/// \return Retro (intensity) value for ray
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/// \deprecated See Retro(unsigned int _index)
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public: double GetRetro(unsigned int _index) GAZEBO_DEPRECATED(7.0);
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/// \brief Get detected retro (intensity) value for a ray.
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/// Warning: If you are accessing all the ray data in a loop
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/// it's possible that the Ray will update in the middle of
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/// your access loop. This means some data will come from one
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/// scan, and some from another scan. You can solve this
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/// problem by using SetActive(false) <your accessor loop>
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/// SetActive(true).
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/// \param[in] _index Index of specific ray
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/// \return Retro (intensity) value for ray
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public: double Retro(const unsigned int _index) const;
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/// \brief Get detected fiducial value for a ray.
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/// Warning: If you are accessing all the ray data in a loop
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/// it's possible that the Ray will update in the middle of
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/// your access loop. This means some data will come from one
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/// scan, and some from another scan. You can solve this
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/// problem by using SetActive(false) <your accessor loop>
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/// SetActive(true).
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/// \param[in] _index Index value of specific ray
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/// \return Fiducial value
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/// \deprecated See Fiducial(unsigned int _index)
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public: int GetFiducial(unsigned int _index) GAZEBO_DEPRECATED(7.0);
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/// \brief Get detected fiducial value for a ray.
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/// Warning: If you are accessing all the ray data in a loop
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/// it's possible that the Ray will update in the middle of
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/// your access loop. This means some data will come from one
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/// scan, and some from another scan. You can solve this
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/// problem by using SetActive(false) <your accessor loop>
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/// SetActive(true).
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/// \param[in] _index Index value of specific ray
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/// \return Fiducial value
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public: int Fiducial(const unsigned int _index) const;
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/// \brief Returns a pointer to the internal physics::MultiRayShape
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/// \return Pointer to ray shape
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/// \deprecated See LaserShape()
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public: physics::MultiRayShapePtr GetLaserShape()
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const GAZEBO_DEPRECATED(7.0);
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/// \brief Returns a pointer to the internal physics::MultiRayShape
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/// \return Pointer to ray shape
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public: physics::MultiRayShapePtr LaserShape() const;
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// Documentation inherited
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public: virtual bool IsActive() const;
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/// \internal
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/// \brief Private data pointer.
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private: std::unique_ptr<RaySensorPrivate> 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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