60 lines
1.9 KiB
C++
60 lines
1.9 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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#include <functional>
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#include "plugins/GpuRayPlugin.hh"
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#include "gazebo/sensors/GpuRaySensor.hh"
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using namespace gazebo;
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GZ_REGISTER_SENSOR_PLUGIN(GpuRayPlugin)
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/////////////////////////////////////////////////
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GpuRayPlugin::GpuRayPlugin()
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: SensorPlugin(), width(0), height(0)
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{
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}
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/////////////////////////////////////////////////
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void GpuRayPlugin::Load(sensors::SensorPtr _sensor,
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sdf::ElementPtr /*_sdf*/)
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{
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this->parentSensor =
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std::dynamic_pointer_cast<sensors::GpuRaySensor>(_sensor);
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if (!this->parentSensor)
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{
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gzerr << "GpuRayPlugin not attached to a GpuLaser sensor\n";
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return;
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}
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this->width = this->parentSensor->RangeCount();
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this->height = this->parentSensor->VerticalRangeCount();
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this->newLaserFrameConnection = this->parentSensor->ConnectNewLaserFrame(
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std::bind(&GpuRayPlugin::OnNewLaserFrame, this,
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std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
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std::placeholders::_4, std::placeholders::_5));
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this->parentSensor->SetActive(true);
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}
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/////////////////////////////////////////////////
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void GpuRayPlugin::OnNewLaserFrame(const float * /*_image*/,
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unsigned int /*_width*/, unsigned int /*_height*/,
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unsigned int /*_depth*/, const std::string &/*_format*/)
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{
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}
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