DepthCameraSensor.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.
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16*/
17#ifndef _GAZEBO_SENSORS_DEPTHCAMERASENSOR_HH_
18#define _GAZEBO_SENSORS_DEPTHCAMERASENSOR_HH_
19
20#include <memory>
21#include <string>
22
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
32 namespace sensors
33 {
34 // Forward declare private data class
35 class DepthCameraSensorPrivate;
36
43 class GZ_SENSORS_VISIBLE DepthCameraSensor : public CameraSensor
44 {
47
49 public: virtual ~DepthCameraSensor();
50
52 public: virtual void Init();
53
56 public: virtual const float *DepthData() const;
57
60 public: virtual rendering::DepthCameraPtr DepthCamera() const;
61
64 protected: virtual void Load(const std::string &_worldName);
65
66 // Documentation inherited
67 protected: virtual bool UpdateImpl(const bool _force);
68
71 private: std::unique_ptr<DepthCameraSensorPrivate> dataPtr;
72 };
74 }
75}
76#endif
sensors
Definition SensorManager.hh:35
Basic camera sensor.
Definition CameraSensor.hh:44
Definition DepthCameraSensor.hh:44
virtual ~DepthCameraSensor()
Destructor.
virtual rendering::DepthCameraPtr DepthCamera() const
Returns a pointer to the rendering::DepthCamera.
virtual void Init()
Initialize the camera.
virtual const float * DepthData() const
Gets the raw depth data from the sensor.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
boost::shared_ptr< DepthCamera > DepthCameraPtr
Definition RenderTypes.hh:98
Forward declarations for the common classes.
Definition Animation.hh:27