RayPlugin.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17/*
18 * Desc: Ray Plugin
19 * Author: Nate Koenig mod by John Hsu
20 */
21
22#ifndef GAZEBO_PLUGINS_RAYPLUGIN_HH_
23#define GAZEBO_PLUGINS_RAYPLUGIN_HH_
24
28#include "gazebo/util/system.hh"
29
30namespace gazebo
31{
33 class GZ_PLUGIN_VISIBLE RayPlugin : public SensorPlugin
34 {
36 public: RayPlugin();
37
39 public: virtual ~RayPlugin();
40
42 public: virtual void OnNewLaserScans();
43
46 public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
47
50
52 private: sensors::RaySensorPtr parentSensor;
53
55 private: event::ConnectionPtr newLaserScansConnection;
56 };
57}
58#endif
Forward declarations and typedefs for sensors.
A Ray Sensor Plugin.
Definition RayPlugin.hh:34
physics::WorldPtr world
Pointer to parent.
Definition RayPlugin.hh:49
void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.
RayPlugin()
Constructor.
virtual ~RayPlugin()
Destructor.
virtual void OnNewLaserScans()
Update callback.
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
std::shared_ptr< RaySensor > RaySensorPtr
Definition SensorTypes.hh:68
Forward declarations for the common classes.
Definition Animation.hh:27