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