69 lines
2.1 KiB
C++
69 lines
2.1 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_RENDERING_LASERVISUAL_PRIVATE_HH_
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#define GAZEBO_RENDERING_LASERVISUAL_PRIVATE_HH_
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#include <vector>
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/rendering/VisualPrivate.hh"
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namespace gazebo
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{
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namespace rendering
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{
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class DynamicLines;
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/// \brief Private data for the Laser Visual class.
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class LaserVisualPrivate : public VisualPrivate
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{
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/// \brief Pointer to a node that handles communication.
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public: transport::NodePtr node;
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/// \brief Subscription to the laser data.
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public: transport::SubscriberPtr laserScanSub;
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/// \brief Renders the laser data as a triangle strip.
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public: std::vector<DynamicLines *> rayStrips;
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/// \brief Renders laser data for rays that do not hit obstacles.
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public: std::vector<DynamicLines *> noHitRayStrips;
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/// \brief Renders a deadzone that is between the sensor's origin
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/// and start of the rays.
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public: std::vector<DynamicLines *> deadzoneRayFans;
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/// \brief Renders the laser data as a line list.
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public: std::vector<DynamicLines *> rayLines;
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/// \brief Mutex to protect the contact message.
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public: boost::mutex mutex;
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/// \brief True if we have received a message.
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public: bool receivedMsg;
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/// \brief The current contact message.
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public: boost::shared_ptr<msgs::LaserScanStamped const> laserMsg;
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/// \brief Pre render connection.
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public: event::ConnectionPtr connection;
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};
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}
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}
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#endif
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