65 lines
1.8 KiB
C++
65 lines
1.8 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_SENSOR_PRIVATE_HH_
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#define _GAZEBO_SENSORS_SENSOR_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/common/Event.hh"
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#include "gazebo/common/Time.hh"
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#include "gazebo/sensors/SensorTypes.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/transport/TransportTypes.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 Sensor private data.
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class SensorPrivate
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{
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/// \brief Mutex to protect resetting lastUpdateTime.
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public: std::mutex mutexLastUpdateTime;
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/// \brief Event triggered when a sensor is updated.
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public: event::EventT<void()> updated;
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/// \brief Publish sensor data.
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public: transport::PublisherPtr sensorPub;
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/// \brief The category of the sensor.
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public: SensorCategory category;
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/// \brief Keep track how much the update has been delayed.
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public: common::Time updateDelay;
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/// \brief The sensors unique ID.
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public: uint32_t id;
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/// \brief An SDF pointer that allows us to only read the sensor.sdf
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/// file once, which in turns limits disk reads.
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public: static sdf::ElementPtr sdfSensor;
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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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