62 lines
1.9 KiB
C++
62 lines
1.9 KiB
C++
/*
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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_LOGICAL_CAMERASENSOR_PRIVATE_HH_
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#define _GAZEBO_SENSORS_LOGICAL_CAMERASENSOR_PRIVATE_HH_
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#include <mutex>
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#include <string>
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#include <ignition/math/Frustum.hh>
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/Link.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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/// \internal
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/// \brief Logical camera sensor private data.
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class LogicalCameraSensorPrivate
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{
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/// \brief Add models that are visible to the camera to a vector of models
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/// \param[in] _myPose pose of the logical camera
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/// \param[in] _models list of models to test against frustum
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public: void AddVisibleModels(ignition::math::Pose3d &_myPose,
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const physics::Model_V &_models);
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/// \brief Publisher of msgs::LogicalCameraImage messages.
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public: transport::PublisherPtr pub;
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/// \brief Camera frustum.
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public: ignition::math::Frustum frustum;
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/// \brief Pointer to the parent link.
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public: physics::LinkPtr parentLink;
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/// \brief Used to store and report the detected models.
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public: msgs::LogicalCameraImage msg;
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/// \brief Mutex to protect the msg.
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public: std::mutex mutex;
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/// \brief Name of the parent model.
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public: std::string modelName;
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};
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}
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}
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#endif
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