65 lines
1.8 KiB
C++
65 lines
1.8 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 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_SENSORS_SENSOR_PRIVATE_HH_
|
||
|
|
#define _GAZEBO_SENSORS_SENSOR_PRIVATE_HH_
|
||
|
|
|
||
|
|
#include <mutex>
|
||
|
|
#include <sdf/sdf.hh>
|
||
|
|
|
||
|
|
#include "gazebo/rendering/RenderTypes.hh"
|
||
|
|
|
||
|
|
#include "gazebo/common/Event.hh"
|
||
|
|
#include "gazebo/common/Time.hh"
|
||
|
|
#include "gazebo/sensors/SensorTypes.hh"
|
||
|
|
#include "gazebo/physics/PhysicsTypes.hh"
|
||
|
|
#include "gazebo/transport/TransportTypes.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace sensors
|
||
|
|
{
|
||
|
|
/// \internal
|
||
|
|
/// \brief Sensor private data.
|
||
|
|
class SensorPrivate
|
||
|
|
{
|
||
|
|
/// \brief Mutex to protect resetting lastUpdateTime.
|
||
|
|
public: std::mutex mutexLastUpdateTime;
|
||
|
|
|
||
|
|
/// \brief Event triggered when a sensor is updated.
|
||
|
|
public: event::EventT<void()> updated;
|
||
|
|
|
||
|
|
/// \brief Publish sensor data.
|
||
|
|
public: transport::PublisherPtr sensorPub;
|
||
|
|
|
||
|
|
/// \brief The category of the sensor.
|
||
|
|
public: SensorCategory category;
|
||
|
|
|
||
|
|
/// \brief Keep track how much the update has been delayed.
|
||
|
|
public: common::Time updateDelay;
|
||
|
|
|
||
|
|
/// \brief The sensors unique ID.
|
||
|
|
public: uint32_t id;
|
||
|
|
|
||
|
|
/// \brief An SDF pointer that allows us to only read the sensor.sdf
|
||
|
|
/// file once, which in turns limits disk reads.
|
||
|
|
public: static sdf::ElementPtr sdfSensor;
|
||
|
|
};
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|