LaserVisual.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#ifndef GAZEBO_RENDERING_LASERVISUAL_HH_
19#define GAZEBO_RENDERING_LASERVISUAL_HH_
20
21#include <string>
22
23#include <ignition/math/Color.hh>
24
25#include "gazebo/msgs/MessageTypes.hh"
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 namespace rendering
32 {
35
38 class GZ_RENDERING_VISIBLE LaserVisual : public Visual
39 {
44 public: LaserVisual(const std::string &_name, VisualPtr _vis,
45 const std::string &_topicName);
46
48 public: virtual ~LaserVisual();
49
50 // Documentation inherited
51 public: virtual void SetEmissive(const ignition::math::Color &_color,
52 const bool _cascade = true) override;
53
55 private: void OnScan(ConstLaserScanStampedPtr &_msg);
56
58 private: void Update();
59 };
61 }
62}
63#endif
rendering
Definition RenderEngine.hh:31
Visualization for laser data.
Definition LaserVisual.hh:39
LaserVisual(const std::string &_name, VisualPtr _vis, const std::string &_topicName)
Constructor.
virtual ~LaserVisual()
Destructor.
virtual void SetEmissive(const ignition::math::Color &_color, const bool _cascade=true) override
Set the emissive value.
A renderable object.
Definition Visual.hh:61
std::shared_ptr< Visual > VisualPtr
Definition RenderTypes.hh:114
Forward declarations for the common classes.
Definition Animation.hh:27