102 lines
3.0 KiB
C++
102 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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#ifndef _GAZEBO_RENDERING_CAMERAPRIVATE_HH_
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#define _GAZEBO_RENDERING_CAMERAPRIVATE_HH_
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#include <deque>
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#include <mutex>
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#include <utility>
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#include <list>
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#include <ignition/math/Pose3.hh>
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#include "gazebo/common/PID.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/util/system.hh"
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namespace Ogre
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{
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class CompositorInstance;
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}
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namespace gazebo
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{
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namespace rendering
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{
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/// \brief Private data for the Camera class
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class GZ_RENDERING_VISIBLE CameraPrivate
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{
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/// \brief Visual that the camera is tracking.
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public: VisualPtr trackedVisual;
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/// \brief Counter used to create unique camera names.
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public: static unsigned int cameraCounter;
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/// \brief Deferred shading geometry buffer.
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public: Ogre::CompositorInstance *dsGBufferInstance;
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/// \brief Deferred shading merge compositor.
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public: Ogre::CompositorInstance *dsMergeInstance;
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/// \brief Deferred lighting geometry buffer.
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public: Ogre::CompositorInstance *dlGBufferInstance;
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/// \brief Deferred lighting merge compositor.
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public: Ogre::CompositorInstance *dlMergeInstance;
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/// \brief Screen space ambient occlusion compositor.
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public: Ogre::CompositorInstance *ssaoInstance;
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/// \brief Lens distortion model
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public: DistortionPtr distortion;
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/// \brief Queue of move positions.
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public: std::deque<std::pair<ignition::math::Pose3d, double> >
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moveToPositionQueue;
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/// \brief Render period.
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public: common::Time renderPeriod;
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/// \brief Position PID used to track a visual smoothly.
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public: common::PID trackVisualPID;
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/// \brief Pitch PID used to track a visual smoothly.
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public: common::PID trackVisualPitchPID;
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/// \brief Yaw PID used to track a visual smoothly.
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public: common::PID trackVisualYawPID;
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/// \brief Communication Node
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public: transport::NodePtr node;
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/// \brief Subscribe to camera command topic
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public: transport::SubscriberPtr cmdSub;
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/// \def CameraCmdMsgs_L
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/// \brief List for holding camera command messages.
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typedef std::list<boost::shared_ptr<msgs::CameraCmd const> >
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CameraCmdMsgs_L;
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/// \brief List of camera cmd messages.
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public: CameraCmdMsgs_L commandMsgs;
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/// \brief Mutex to lock the various message buffers.
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public: std::mutex receiveMutex;
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};
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}
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}
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#endif
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