48 lines
1.4 KiB
C++
48 lines
1.4 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2012 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_GPU_LASER_PLUGIN_HH_
|
||
|
|
#define _GAZEBO_GPU_LASER_PLUGIN_HH_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
|
||
|
|
#include "gazebo/common/Plugin.hh"
|
||
|
|
#include "gazebo/sensors/CameraSensor.hh"
|
||
|
|
#include "gazebo/rendering/RenderTypes.hh"
|
||
|
|
#include "gazebo/util/system.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
class GAZEBO_VISIBLE GpuRayPlugin : public SensorPlugin
|
||
|
|
{
|
||
|
|
public: GpuRayPlugin();
|
||
|
|
|
||
|
|
public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
|
||
|
|
|
||
|
|
public: virtual void OnNewLaserFrame(const float *_image,
|
||
|
|
unsigned int _width, unsigned int _height,
|
||
|
|
unsigned int _depth, const std::string &_format);
|
||
|
|
|
||
|
|
protected: unsigned int width, height/*, depth*/;
|
||
|
|
|
||
|
|
protected: sensors::GpuRaySensorPtr parentSensor;
|
||
|
|
|
||
|
|
private: event::ConnectionPtr newLaserFrameConnection;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
#endif
|