105 lines
3.1 KiB
C++
105 lines
3.1 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 sensors
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* Author: Andrew Howard
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* Date: 18 May 2003
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*/
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#ifndef _SENSORFACTORY_HH_
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#define _SENSORFACTORY_HH_
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#include <string>
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#include <map>
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#include <vector>
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#include "gazebo/sensors/SensorTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \ingroup gazebo_sensors
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/// \brief Sensors namespace
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namespace sensors
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{
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/// \def Sensor
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/// \brief Prototype for sensor factory functions
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typedef Sensor* (*SensorFactoryFn) ();
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/// \addtogroup gazebo_sensors
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/// \{
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/// \class SensorFactor SensorFactory.hh sensors/sensors.hh
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/// \brief The sensor factory; the class is just for namespacing purposes.
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class GAZEBO_VISIBLE SensorFactory
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{
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/// \brief Register all known sensors
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/// \li sensors::CameraSensor
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/// \li sensors::DepthCameraSensor
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/// \li sensors::GpuRaySensor
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/// \li sensors::RaySensor
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/// \li sensors::ContactSensor
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/// \li sensors::RFIDSensor
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/// \li sensors::RFIDTag
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/// \li sensors::WirelessTransmitter
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/// \li sensors::WirelessReceiver
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public: static void RegisterAll();
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/// \brief Register a sensor class (called by sensor registration function).
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/// \param[in] _className Name of class of sensor to register.
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/// \param[in] _factoryfn Function handle for registration.
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public: static void RegisterSensor(const std::string &_className,
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SensorFactoryFn _factoryfn);
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/// \brief Create a new instance of a sensor. Used by the world when
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/// reading the world file.
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/// \param[in] _className Name of sensor class
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/// \return Pointer to Sensor
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public: static SensorPtr NewSensor(const std::string &_className);
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/// \brief Get all the sensor types
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/// \param _types Vector of strings of the sensor types,
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/// populated by function
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public: static void GetSensorTypes(std::vector<std::string> &_types);
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/// \brief A list of registered sensor classes
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private: static std::map<std::string, SensorFactoryFn> sensorMap;
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};
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/// \brief Static sensor registration macro
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///
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/// Use this macro to register sensors with the server.
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/// @param name Sensor type name, as it appears in the world file.
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/// @param classname C++ class name for the sensor.
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#define GZ_REGISTER_STATIC_SENSOR(name, classname) \
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GAZEBO_VISIBLE Sensor *New##classname() \
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{ \
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return new gazebo::sensors::classname(); \
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} \
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GAZEBO_VISIBLE \
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void Register##classname() \
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{\
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SensorFactory::RegisterSensor(name, New##classname);\
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}
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/// \}
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}
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}
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#endif
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