65 lines
1.8 KiB
C++
65 lines
1.8 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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#include <functional>
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#include "gazebo/physics/physics.hh"
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#include "RayPlugin.hh"
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using namespace gazebo;
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// Register this plugin with the simulator
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GZ_REGISTER_SENSOR_PLUGIN(RayPlugin)
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/////////////////////////////////////////////////
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RayPlugin::RayPlugin()
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{
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}
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/////////////////////////////////////////////////
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RayPlugin::~RayPlugin()
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{
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this->parentSensor->LaserShape()->DisconnectNewLaserScans(
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this->newLaserScansConnection);
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this->newLaserScansConnection.reset();
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this->parentSensor.reset();
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this->world.reset();
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}
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/////////////////////////////////////////////////
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void RayPlugin::Load(sensors::SensorPtr _parent, sdf::ElementPtr /*_sdf*/)
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{
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// Get then name of the parent sensor
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this->parentSensor =
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std::dynamic_pointer_cast<sensors::RaySensor>(_parent);
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if (!this->parentSensor)
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gzthrow("RayPlugin requires a Ray Sensor as its parent");
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this->world = physics::get_world(this->parentSensor->WorldName());
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this->newLaserScansConnection =
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this->parentSensor->LaserShape()->ConnectNewLaserScans(
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std::bind(&RayPlugin::OnNewLaserScans, this));
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}
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/////////////////////////////////////////////////
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void RayPlugin::OnNewLaserScans()
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{
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/* overload with useful callback here */
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}
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