138 lines
4.7 KiB
C++
138 lines
4.7 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 _GAZEBO_SENSORS_SONARSENSOR_HH_
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#define _GAZEBO_SENSORS_SONARSENSOR_HH_
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#include <memory>
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#include <string>
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#include "gazebo/sensors/Sensor.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \ingroup gazebo_sensors
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/// \brief Sensors namespace
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namespace sensors
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{
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// Forward declare private data class.
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class SonarSensorPrivate;
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/// \addtogroup gazebo_sensors
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/// \{
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/// \class SonarSensor SonarSensor.hh sensors/sensors.hh
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/// \brief Sensor with sonar cone.
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///
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/// This sensor uses a cone .
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class GAZEBO_VISIBLE SonarSensor: public Sensor
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{
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/// \brief Constructor
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public: SonarSensor();
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/// \brief Destructor
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public: virtual ~SonarSensor();
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// Documentation inherited
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public: virtual void Load(const std::string &_worldName);
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// Documentation inherited
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public: virtual void Init();
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// Documentation inherited
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public: virtual std::string Topic() const;
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/// \brief Get the minimum range of the sonar
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/// \return The sonar's minimum range.
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/// \deprecated See RangeMin()
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public: double GetRangeMin() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the minimum range of the sonar
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/// \return The sonar's minimum range.
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public: double RangeMin() const;
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/// \brief Get the minimum range of the sonar.
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/// \return The sonar's maximum range.
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/// \deprecated See RangeMax()
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public: double GetRangeMax() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the minimum range of the sonar.
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/// \return The sonar's maximum range.
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public: double RangeMax() const;
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/// \brief Get the radius of the sonar cone at maximum range.
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/// \return The radisu of the sonar cone at max range.
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/// \deprecated See Radius()
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public: double GetRadius() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the radius of the sonar cone at maximum range.
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/// \return The radius of the sonar cone at max range.
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public: double Radius() const;
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/// \brief Get detected range for a sonar.
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/// Warning: If you are accessing all the ray data in a loop
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/// it's possible that the Ray will update in the middle of
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/// your access loop. This means some data will come from one
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/// scan, and some from another scan. You can solve this
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/// problem by using SetActive(false) <your accessor loop>
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/// SetActive(true).
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/// \return Returns DBL_MAX for no detection.
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/// \deprecated See Range()
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public: double GetRange() GAZEBO_DEPRECATED(7.0);
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/// \brief Get detected range for a sonar.
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/// Warning: If you are accessing all the ray data in a loop
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/// it's possible that the Ray will update in the middle of
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/// your access loop. This means some data will come from one
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/// scan, and some from another scan. You can solve this
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/// problem by using SetActive(false) <your accessor loop>
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/// SetActive(true).
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/// \return Returns DBL_MAX for no detection.
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public: double Range();
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// Documentation inherited
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public: virtual bool IsActive() const;
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/// \brief Connect a to the new update signal.
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/// \param[in] _subscriber Callback function.
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/// \return The connection, which must be kept in scope.
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public: event::ConnectionPtr ConnectUpdate(
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std::function<void (msgs::SonarStamped)> _subscriber);
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/// \brief Disconnect from the update signal.
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/// \param[in] _conn Connection to remove.
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public: void DisconnectUpdate(event::ConnectionPtr &_conn);
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// Documentation inherited
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protected: virtual bool UpdateImpl(const bool _force);
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// Documentation inherited
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protected: virtual void Fini();
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/// \brief Callback for contact messages from the physics engine.
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private: void OnContacts(ConstContactsPtr &_msg);
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/// \internal
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/// \brief Internal data pointer
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private: std::unique_ptr<SonarSensorPrivate> dataPtr;
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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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