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DepthCameraSensor.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_SENSORS_DEPTHCAMERASENSOR_HH_
#define _GAZEBO_SENSORS_DEPTHCAMERASENSOR_HH_
#include <memory>
#include <string>
#include "gazebo/sensors/CameraSensor.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace sensors
{
// Forward declare private data class
class DepthCameraSensorPrivate;
class GZ_SENSORS_VISIBLE DepthCameraSensor : public CameraSensor
{
public: DepthCameraSensor();
public: virtual ~DepthCameraSensor();
public: virtual void Init();
public: virtual const float *DepthData() const;
public: virtual rendering::DepthCameraPtr DepthCamera() const;
protected: virtual void Load(const std::string &_worldName);
// Documentation inherited
protected: virtual bool UpdateImpl(const bool _force);
private: std::unique_ptr<DepthCameraSensorPrivate> dataPtr;
};
}
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
sensors
sensors
Definition: SensorManager.hh:35
system.hh
CameraSensor.hh
gazebo::sensors::DepthCameraSensor::DepthCamera
virtual rendering::DepthCameraPtr DepthCamera() const
Returns a pointer to the rendering::DepthCamera.
gazebo::sensors::DepthCameraSensor::Load
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
gazebo::sensors::DepthCameraSensor::UpdateImpl
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
gazebo::sensors::DepthCameraSensor::DepthCameraSensor
DepthCameraSensor()
Constructor.
Sensor.hh
RenderTypes.hh
gazebo::rendering::DepthCameraPtr
boost::shared_ptr< DepthCamera > DepthCameraPtr
Definition: RenderTypes.hh:98
gazebo::sensors::DepthCameraSensor::DepthData
virtual const float * DepthData() const
Gets the raw depth data from the sensor.
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::sensors::DepthCameraSensor::~DepthCameraSensor
virtual ~DepthCameraSensor()
Destructor.
gazebo::sensors::DepthCameraSensor
Definition: DepthCameraSensor.hh:43
gazebo::sensors::DepthCameraSensor::Init
virtual void Init()
Initialize the camera.
gazebo::sensors::CameraSensor
Basic camera sensor.
Definition: CameraSensor.hh:43