48 lines
1.4 KiB
C++
48 lines
1.4 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_GPU_LASER_PLUGIN_HH_
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#define _GAZEBO_GPU_LASER_PLUGIN_HH_
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#include <string>
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/sensors/CameraSensor.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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class GAZEBO_VISIBLE GpuRayPlugin : public SensorPlugin
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{
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public: GpuRayPlugin();
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public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
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public: virtual void OnNewLaserFrame(const float *_image,
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unsigned int _width, unsigned int _height,
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unsigned int _depth, const std::string &_format);
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protected: unsigned int width, height/*, depth*/;
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protected: sensors::GpuRaySensorPtr parentSensor;
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private: event::ConnectionPtr newLaserFrameConnection;
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};
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}
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#endif
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