65 lines
1.8 KiB
C++
65 lines
1.8 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
#include <functional>
|
||
|
|
|
||
|
|
#include "gazebo/physics/physics.hh"
|
||
|
|
#include "RayPlugin.hh"
|
||
|
|
|
||
|
|
using namespace gazebo;
|
||
|
|
|
||
|
|
// Register this plugin with the simulator
|
||
|
|
GZ_REGISTER_SENSOR_PLUGIN(RayPlugin)
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
RayPlugin::RayPlugin()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
RayPlugin::~RayPlugin()
|
||
|
|
{
|
||
|
|
this->parentSensor->LaserShape()->DisconnectNewLaserScans(
|
||
|
|
this->newLaserScansConnection);
|
||
|
|
this->newLaserScansConnection.reset();
|
||
|
|
|
||
|
|
this->parentSensor.reset();
|
||
|
|
this->world.reset();
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
void RayPlugin::Load(sensors::SensorPtr _parent, sdf::ElementPtr /*_sdf*/)
|
||
|
|
{
|
||
|
|
// Get then name of the parent sensor
|
||
|
|
this->parentSensor =
|
||
|
|
std::dynamic_pointer_cast<sensors::RaySensor>(_parent);
|
||
|
|
|
||
|
|
if (!this->parentSensor)
|
||
|
|
gzthrow("RayPlugin requires a Ray Sensor as its parent");
|
||
|
|
|
||
|
|
this->world = physics::get_world(this->parentSensor->WorldName());
|
||
|
|
|
||
|
|
this->newLaserScansConnection =
|
||
|
|
this->parentSensor->LaserShape()->ConnectNewLaserScans(
|
||
|
|
std::bind(&RayPlugin::OnNewLaserScans, this));
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
void RayPlugin::OnNewLaserScans()
|
||
|
|
{
|
||
|
|
/* overload with useful callback here */
|
||
|
|
}
|