93 lines
2.5 KiB
C++
93 lines
2.5 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_GPURAYENSOR_PRIVATE_HH_
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#define _GAZEBO_SENSORS_GPURAYENSOR_PRIVATE_HH_
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#include <mutex>
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#include <sdf/sdf.hh>
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/msgs/msgs.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 GPU Ray sensor private data.
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class GpuRaySensorPrivate
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{
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/// \brief Scan SDF elementz.
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public: sdf::ElementPtr scanElem;
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/// \brief Horizontal SDF element.
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public: sdf::ElementPtr horzElem;
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/// \brief Vertical SDF element.
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public: sdf::ElementPtr vertElem;
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/// \brief Range SDF element.
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public: sdf::ElementPtr rangeElem;
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/// \brief Camera SDF element.
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public: sdf::ElementPtr cameraElem;
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/// \brief Horizontal ray count.
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public: unsigned int horzRayCount;
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/// \brief Vertical ray count.
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public: unsigned int vertRayCount;
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/// \brief Horizontal range count.
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public: unsigned int horzRangeCount;
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/// \brief Vertical range count.
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public: unsigned int vertRangeCount;
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/// \brief Range count ratio.
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public: double rangeCountRatio;
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/// \brief The minimum range.
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public: double rangeMin;
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/// \brief The maximum range.
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public: double rangeMax;
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/// \brief GPU laser rendering.
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public: rendering::GpuLaserPtr laserCam;
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/// \brief Mutex to protect getting ranges.
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public: std::mutex mutex;
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/// \brief Laser message to publish data.
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public: msgs::LaserScanStamped laserMsg;
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/// \brief Parent entity of gpu ray sensor
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public: physics::EntityPtr parentEntity;
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/// \brief Publisher to publish ray sensor data
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public: transport::PublisherPtr scanPub;
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/// \brief True if the sensor was rendered.
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public: bool rendered;
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};
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}
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}
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#endif
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