55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
/*
|
|
* Copyright (C) 2015 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_SENSORS_RAYSENSOR_PRIVATE_HH_
|
|
#define _GAZEBO_SENSORS_RAYSENSOR_PRIVATE_HH_
|
|
|
|
#include <mutex>
|
|
|
|
#include "gazebo/msgs/msgs.hh"
|
|
#include "gazebo/physics/PhysicsTypes.hh"
|
|
#include "gazebo/transport/TransportTypes.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
namespace sensors
|
|
{
|
|
/// \internal
|
|
/// \brief Ray sensor private data.
|
|
class RaySensorPrivate
|
|
{
|
|
/// \brief Laser collision pointer.
|
|
public: physics::CollisionPtr laserCollision;
|
|
|
|
/// \brief Multi ray shapre pointer.
|
|
public: physics::MultiRayShapePtr laserShape;
|
|
|
|
/// \brief Parent entity pointer
|
|
public: physics::EntityPtr parentEntity;
|
|
|
|
/// \brief Publisher for the scans
|
|
public: transport::PublisherPtr scanPub;
|
|
|
|
/// \brief Mutex to protect laserMsg
|
|
public: std::mutex mutex;
|
|
|
|
/// \brief Laser message.
|
|
public: msgs::LaserScanStamped laserMsg;
|
|
};
|
|
}
|
|
}
|
|
#endif
|