111 lines
3.0 KiB
C++
111 lines
3.0 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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/*
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* Desc: Factory for creating sensor
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* Author: Andrew Howard
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* Date: 18 May 2003
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "gazebo/sensors/SensorManager.hh"
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#include "gazebo/sensors/SensorFactory.hh"
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#include "gazebo/sensors/Sensor.hh"
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void RegisterAltimeterSensor();
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void RegisterCameraSensor();
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void RegisterContactSensor();
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void RegisterDepthCameraSensor();
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void RegisterForceTorqueSensor();
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void RegisterGpsSensor();
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void RegisterGpuRaySensor();
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void RegisterImuSensor();
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void RegisterLogicalCameraSensor();
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void RegisterMagnetometerSensor();
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void RegisterMultiCameraSensor();
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void RegisterRaySensor();
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void RegisterRFIDSensor();
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void RegisterRFIDTag();
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void RegisterSonarSensor();
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void RegisterWideAngleCameraSensor();
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void RegisterWirelessReceiver();
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void RegisterWirelessTransmitter();
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using namespace gazebo;
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using namespace sensors;
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std::map<std::string, SensorFactoryFn> SensorFactory::sensorMap;
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/////////////////////////////////////////////////
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void SensorFactory::RegisterAll()
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{
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RegisterAltimeterSensor();
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RegisterCameraSensor();
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RegisterContactSensor();
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RegisterDepthCameraSensor();
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RegisterForceTorqueSensor();
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RegisterGpsSensor();
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RegisterGpuRaySensor();
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RegisterImuSensor();
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RegisterLogicalCameraSensor();
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RegisterMagnetometerSensor();
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RegisterMultiCameraSensor();
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RegisterRaySensor();
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RegisterRFIDSensor();
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RegisterRFIDTag();
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RegisterSonarSensor();
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RegisterWideAngleCameraSensor();
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RegisterWirelessReceiver();
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RegisterWirelessTransmitter();
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}
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/////////////////////////////////////////////////
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void SensorFactory::RegisterSensor(const std::string &classname,
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SensorFactoryFn factoryfn)
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{
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sensorMap[classname] = factoryfn;
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}
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/////////////////////////////////////////////////
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SensorPtr SensorFactory::NewSensor(const std::string &classname)
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{
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SensorPtr sensor;
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if (sensorMap[classname])
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{
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sensor.reset((sensorMap[classname]) ());
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}
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return sensor;
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}
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/////////////////////////////////////////////////
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void SensorFactory::GetSensorTypes(std::vector<std::string> &_types)
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{
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_types.clear();
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std::map<std::string, SensorFactoryFn>::const_iterator iter;
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for (iter = sensorMap.begin(); iter != sensorMap.end(); ++iter)
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{
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_types.push_back(iter->first);
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}
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}
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