GpuRayPlugin.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_GPU_LASER_PLUGIN_HH_
19#define _GAZEBO_GPU_LASER_PLUGIN_HH_
20
21#include <string>
22
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
30 class GZ_PLUGIN_VISIBLE GpuRayPlugin : public SensorPlugin
31 {
32 public: GpuRayPlugin();
33
34 public: virtual ~GpuRayPlugin();
35
36 public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
37
38 public: virtual void OnNewLaserFrame(const float *_image,
39 unsigned int _width, unsigned int _height,
40 unsigned int _depth, const std::string &_format);
41
42 protected: unsigned int width, height/*, depth*/;
43
45
46 private: event::ConnectionPtr newLaserFrameConnection;
47 };
48}
49#endif
Definition GpuRayPlugin.hh:31
void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
Load function.
virtual void OnNewLaserFrame(const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
sensors::GpuRaySensorPtr parentSensor
Definition GpuRayPlugin.hh:44
unsigned int height
Definition GpuRayPlugin.hh:42
unsigned int width
Definition GpuRayPlugin.hh:42
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
std::shared_ptr< GpuRaySensor > GpuRaySensorPtr
Definition SensorTypes.hh:100
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
Forward declarations for the common classes.
Definition Animation.hh:27