76 lines
2.2 KiB
C++
76 lines
2.2 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_WIDEANGLECAMERASENSOR_HH_
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#define _GAZEBO_SENSORS_WIDEANGLECAMERASENSOR_HH_
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#include <memory>
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#include <string>
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#include "gazebo/sensors/Sensor.hh"
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/sensors/CameraSensor.hh"
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#include "gazebo/util/system.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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// Forward declare private data class
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class WideAngleCameraSensorPrivate;
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/// \addtogroup gazebo_sensors Sensors
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/// \{
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/// \class WideAngleCameraSensor WideAngleCameraSensor.hh sensors/sensors.hh
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/// \brief Camera sensor with variable mapping function
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///
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/// This sensor is used for simulating cameras with wide-angle lens
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class GAZEBO_VISIBLE WideAngleCameraSensor : public CameraSensor
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{
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/// \brief Constructor
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public: WideAngleCameraSensor();
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/// \brief Destructor
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public: virtual ~WideAngleCameraSensor() = default;
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// Documentation inherited
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public: void Load(const std::string &_worldName) override;
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// Documentation inherited
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public: void Init() override;
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// Documentation inherited
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protected: void Fini() override;
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// Documentation inherited
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protected: bool UpdateImpl(const bool _force) override;
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/// \brief Handle incoming control message
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/// \param[in] _msg Message received from topic
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protected: void OnCtrlMessage(ConstCameraLensPtr &_msg);
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/// \internal
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/// \brief Private data pointer.
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private: std::unique_ptr<WideAngleCameraSensorPrivate> dataPtr;
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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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