55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
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/*
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* Copyright (C) 2015 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_PRIVATE_HH_
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#define _GAZEBO_SENSORS_RAYSENSOR_PRIVATE_HH_
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#include <mutex>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/transport/TransportTypes.hh"
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namespace gazebo
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{
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namespace sensors
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{
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/// \internal
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/// \brief Ray sensor private data.
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class RaySensorPrivate
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{
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/// \brief Laser collision pointer.
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public: physics::CollisionPtr laserCollision;
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/// \brief Multi ray shapre pointer.
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public: physics::MultiRayShapePtr laserShape;
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/// \brief Parent entity pointer
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public: physics::EntityPtr parentEntity;
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/// \brief Publisher for the scans
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public: transport::PublisherPtr scanPub;
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/// \brief Mutex to protect laserMsg
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public: std::mutex mutex;
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/// \brief Laser message.
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public: msgs::LaserScanStamped laserMsg;
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};
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}
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}
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#endif
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