85 lines
2.6 KiB
C++
85 lines
2.6 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_SONARSENSOR_PRIVATE_HH_
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#define _GAZEBO_SENSORS_SONARSENSOR_PRIVATE_HH_
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#include <list>
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#include <mutex>
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#include <ignition/math/Pose3.hh>
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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 Sonar sensor private data
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class SonarSensorPrivate
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{
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/// \brief Contact messages list type
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typedef std::list<boost::shared_ptr<msgs::Contacts const> > ContactMsgs_L;
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/// \brief Update event.
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public: event::EventT<void(msgs::SonarStamped)> update;
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/// \brief Collison object that holds the sonarShape.
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public: physics::CollisionPtr sonarCollision;
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/// \brief Shape used to generate contact information.
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public: physics::MeshShapePtr sonarShape;
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/// \brief Parent entity of this sensor
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public: physics::EntityPtr parentEntity;
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/// \brief Subscription to contact messages from the physics engine
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public: transport::SubscriberPtr contactSub;
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/// \brief Publishes the sonarMsg.
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public: transport::PublisherPtr sonarPub;
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/// \brief Store current sonar info
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public: msgs::SonarStamped sonarMsg;
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/// \brief Mutex used to protect reading/writing the sonar message.
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public: std::mutex mutex;
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/// \brief List of received contacts from the sonar collision shape.
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public: ContactMsgs_L incomingContacts;
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/// \brief Pose of the sonar shape's midpoint.
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public: ignition::math::Pose3d sonarMidPose;
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/// \brief Minimum range
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public: double rangeMin;
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/// \brief Maximum range
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public: double rangeMax;
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/// \brief Radius of the sonar cone at maximum range.
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public: double radius;
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/// \brief Counts the number of times there were no contacts. This is
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/// used to reduce the range value jumping.
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public: int emptyContactCount;
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};
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}
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}
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#endif
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