17#ifndef _GAZEBO_SENSORS_RAYSENSOR_HH_
18#define _GAZEBO_SENSORS_RAYSENSOR_HH_
24#include <ignition/math/Angle.hh>
31 class OgreDynamicLines;
40 class RaySensorPrivate;
60 public:
virtual void Load(
const std::string &_worldName);
63 public:
virtual void Init();
69 protected:
virtual void Fini();
72 public:
virtual std::string
Topic()
const;
76 public: ignition::math::Angle
AngleMin()
const;
80 public: ignition::math::Angle
AngleMax()
const;
135 public:
double Range(
const unsigned int _index)
const;
139 public:
void Ranges(std::vector<double> &_ranges)
const;
150 public:
double Retro(
const unsigned int _index)
const;
161 public:
int Fiducial(
const unsigned int _index)
const;
172 private: std::unique_ptr<RaySensorPrivate> dataPtr;
sensors
Definition SensorManager.hh:35
Sensor with one or more rays.
Definition RaySensor.hh:52
double RangeMax() const
Get the maximum range.
double VerticalAngleResolution() const
Get the vertical angle in radians between each range.
virtual ~RaySensor()
Destructor.
int RayCount() const
Get the ray count.
virtual void Fini()
Finalize the sensor.
ignition::math::Angle AngleMin() const
Get the minimum angle.
virtual void Init()
Initialize the sensor.
int VerticalRangeCount() const
Get the vertical scan line count.
double RangeMin() const
Get the minimum range.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
double RangeResolution() const
Get the range resolution.
int VerticalRayCount() const
Get the vertical scan line count.
physics::MultiRayShapePtr LaserShape() const
Returns a pointer to the internal physics::MultiRayShape.
void Ranges(std::vector< double > &_ranges) const
Get all the ranges.
virtual bool IsActive() const
Returns true if sensor generation is active.
virtual std::string Topic() const
Returns the topic name as set in SDF.
double Range(const unsigned int _index) const
Get detected range for a ray.
double AngleResolution() const
Get the angle in radians between each range.
ignition::math::Angle VerticalAngleMin() const
Get the vertical scan bottom angle.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
ignition::math::Angle AngleMax() const
Get the maximum angle.
int Fiducial(const unsigned int _index) const
Get detected fiducial value for a ray.
int RangeCount() const
Get the range count.
double Retro(const unsigned int _index) const
Get detected retro (intensity) value for a ray.
ignition::math::Angle VerticalAngleMax() const
Get the vertical scan line top angle.
Base class for sensors.
Definition Sensor.hh:53
boost::shared_ptr< MultiRayShape > MultiRayShapePtr
Definition PhysicsTypes.hh:153
Forward declarations for the common classes.
Definition Animation.hh:27