59 lines
1.6 KiB
C++
59 lines
1.6 KiB
C++
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/*
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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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/*
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* Desc: Ray Plugin
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* Author: Nate Koenig mod by John Hsu
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*/
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#ifndef _GAZEBO_RAY_PLUGIN_HH_
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#define _GAZEBO_RAY_PLUGIN_HH_
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/sensors/SensorTypes.hh"
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#include "gazebo/sensors/RaySensor.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \brief A Ray Sensor Plugin
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class GAZEBO_VISIBLE RayPlugin : public SensorPlugin
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{
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/// \brief Constructor
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public: RayPlugin();
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/// \brief Destructor
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public: virtual ~RayPlugin();
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/// \brief Update callback
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public: virtual void OnNewLaserScans();
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/// \brief Load the plugin
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/// \param take in SDF root element
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public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
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/// \brief Pointer to parent
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protected: physics::WorldPtr world;
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/// \brief The parent sensor
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private: sensors::RaySensorPtr parentSensor;
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/// \brief The connection tied to RayPlugin::OnNewLaserScans()
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private: event::ConnectionPtr newLaserScansConnection;
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};
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}
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#endif
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