82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
/*
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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 _ROAD_HH_
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#define _ROAD_HH_
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#include <string>
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#include <vector>
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#include <algorithm>
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#include <gazebo/math/Vector3.hh>
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/physics/Base.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 physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class Road Road.hh physics/physics.hh
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/// \brief for building a Road from SDF
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class GZ_PHYSICS_VISIBLE Road : public Base
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent of this road object.
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public: explicit Road(BasePtr _parent);
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/// \brief Destructor.
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public: virtual ~Road();
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/// \brief Load the road from SDF.
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/// \param[in] _sdf SDF values to load from.
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public: void Load(sdf::ElementPtr _sdf);
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/// \brief Initialize the road.
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public: virtual void Init();
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/// \brief Finalize the road.
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public: virtual void Fini();
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/// \brief Get the point that define the road.
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/// \return The vector of points that define the road.
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public: const std::vector<math::Vector3> &GetPoints() const;
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/// \brief Get the road width in meters.
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/// \return Road width in meters.
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public: double GetWidth() const;
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/// \brief Width of the road.
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private: double width;
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/// \brief Points that makes up the mid-line of the road.
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private: std::vector<math::Vector3> points;
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/// \brief Transportation node.
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private: transport::NodePtr node;
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/// \brief Publisher for road information.
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private: transport::PublisherPtr roadPub;
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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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