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GpuRayPlugin.hh
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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _GAZEBO_GPU_LASER_PLUGIN_HH_
#define _GAZEBO_GPU_LASER_PLUGIN_HH_
#include <string>
#include "gazebo/common/Plugin.hh"
#include "gazebo/sensors/CameraSensor.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE GpuRayPlugin : public SensorPlugin
{
public: GpuRayPlugin();
public: virtual ~GpuRayPlugin();
public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
public: virtual void OnNewLaserFrame(const float *_image,
unsigned int _width, unsigned int _height,
unsigned int _depth, const std::string &_format);
protected: unsigned int width, height/*, depth*/;
protected: sensors::GpuRaySensorPtr parentSensor;
private: event::ConnectionPtr newLaserFrameConnection;
};
}
#endif
gazebo::sensors::SensorPtr
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
system.hh
CameraSensor.hh
gazebo::sensors::GpuRaySensorPtr
std::shared_ptr< GpuRaySensor > GpuRaySensorPtr
Definition: SensorTypes.hh:100
gazebo::GpuRayPlugin::parentSensor
sensors::GpuRaySensorPtr parentSensor
Definition: GpuRayPlugin.hh:44
RenderTypes.hh
gazebo::SensorPlugin
A plugin with access to physics::Sensor. See reference.
Definition: Plugin.hh:332
gazebo::event::ConnectionPtr
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
gazebo::GpuRayPlugin
Definition: GpuRayPlugin.hh:30
Plugin.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59
gazebo::GpuRayPlugin::width
unsigned int width
Definition: GpuRayPlugin.hh:42