17#ifndef _GAZEBO_SENSORS_GPURAYSENSOR_HH_
18#define _GAZEBO_SENSORS_GPURAYSENSOR_HH_
24#include <ignition/math/Angle.hh>
25#include <ignition/math/Pose3.hh>
39 class GpuRaySensorPrivate;
61 public:
virtual void Load(
const std::string &_worldName,
62 sdf::ElementPtr _sdf);
66 public:
virtual void Load(
const std::string &_worldName);
69 public:
virtual void Init();
75 protected:
virtual void Fini();
78 public:
virtual std::string
Topic()
const;
86 public: ignition::math::Angle
AngleMin()
const;
94 public: ignition::math::Angle
AngleMax()
const;
166 public:
double Range(
const int _index)
const;
170 public:
void Ranges(std::vector<double> &_ranges)
const;
181 public:
double Retro(
const int _index)
const;
192 public:
int Fiducial(
const unsigned int _index)
const;
245 std::function<
void(
const float *,
unsigned int,
unsigned int,
246 unsigned int,
const std::string &)> _subscriber);
252 private:
void Render();
256 private: std::unique_ptr<GpuRaySensorPrivate> dataPtr;
sensors
Definition SensorManager.hh:35
Forward declarations for transport.
GPU based laser sensor.
Definition GpuRaySensor.hh:51
double Range(const int _index) const
Get detected range for a ray.
event::ConnectionPtr ConnectNewLaserFrame(std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
Connect to the new laser frame event.
double HorzFOV() const
Get the horizontal field of view of the laser sensor.
double HorzHalfAngle() const
Get (horizontal_max_angle + horizontal_min_angle) * 0.5.
double RangeMax() const
Get the maximum range.
double VerticalAngleResolution() const
Get the vertical angle in radians between each range.
double VertFOV() const
Get the vertical field-of-view.
GpuRaySensor()
Constructor.
int RayCount() const
Get the ray count.
void SetAngleMax(const double _angle)
Set the scan maximum angle.
virtual void Fini()
Finalize the ray.
double CosHorzFOV() const
Get Cos Horz field-of-view.
ignition::math::Angle AngleMin() const
Get the minimum angle.
virtual void Init()
Initialize the ray.
int VerticalRangeCount() const
Get the vertical scan line count.
double RangeCountRatio() const
Return the ratio of horizontal range count to vertical range count.
double RangeMin() const
Get the minimum range.
virtual void Load(const std::string &_worldName, sdf::ElementPtr _sdf)
Load the sensor with SDF parameters.
void SetVerticalAngleMax(const double _angle)
Set the vertical scan line top angle.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
double RangeResolution() const
Get the range resolution If RangeResolution is 1, the number of simulated rays is equal to the number...
int VerticalRayCount() const
Get the vertical scan line count.
double VertHalfAngle() const
Get (vertical_max_angle + vertical_min_angle) * 0.5.
double RayCountRatio() const
Return the ratio of horizontal ray count to vertical ray count.
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.
unsigned int CameraCount() const
Gets the camera count.
rendering::GpuLaserPtr LaserCamera() const
Returns a pointer to the internally kept rendering::GpuLaser.
double AngleResolution() const
Get radians between each range.
double Retro(const int _index) const
Get detected retro (intensity) value for a ray.
ignition::math::Angle VerticalAngleMin() const
Get the vertical scan bottom angle.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
void SetAngleMin(const double _angle)
Set the scan minimum angle.
ignition::math::Angle AngleMax() const
Get the maximum angle.
int Fiducial(const unsigned int _index) const
Get detected fiducial value for a ray.
void SetVerticalAngleMin(const double _angle)
Set the vertical scan bottom angle.
double CosVertFOV() const
Get Cos Vert field-of-view.
bool IsHorizontal() const
Gets if sensor is horizontal.
int RangeCount() const
Get the range count.
virtual ~GpuRaySensor()
Destructor.
ignition::math::Angle VerticalAngleMax() const
Get the vertical scan line top angle.
Base class for sensors.
Definition Sensor.hh:53
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< GpuLaser > GpuLaserPtr
Definition RenderTypes.hh:106
Forward declarations for the common classes.
Definition Animation.hh:27