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RayPlugin.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.
*
*/
/*
* Desc: Ray Plugin
* Author: Nate Koenig mod by John Hsu
*/
#ifndef GAZEBO_PLUGINS_RAYPLUGIN_HH_
#define GAZEBO_PLUGINS_RAYPLUGIN_HH_
#include "gazebo/common/Plugin.hh"
#include "gazebo/sensors/SensorTypes.hh"
#include "gazebo/sensors/RaySensor.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE RayPlugin : public SensorPlugin
{
public: RayPlugin();
public: virtual ~RayPlugin();
public: virtual void OnNewLaserScans();
public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
protected: physics::WorldPtr world;
private: sensors::RaySensorPtr parentSensor;
private: event::ConnectionPtr newLaserScansConnection;
};
}
#endif
gazebo::sensors::SensorPtr
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
SensorTypes.hh
Forward declarations and typedefs for sensors.
system.hh
gazebo::sensors::RaySensorPtr
std::shared_ptr< RaySensor > RaySensorPtr
Definition: SensorTypes.hh:68
gazebo::SensorPlugin
A plugin with access to physics::Sensor. See reference.
Definition: Plugin.hh:332
gazebo::RayPlugin
A Ray Sensor Plugin.
Definition: RayPlugin.hh:33
gazebo::event::ConnectionPtr
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
gazebo::RayPlugin::world
physics::WorldPtr world
Pointer to parent.
Definition: RayPlugin.hh:49
RaySensor.hh
gazebo::physics::WorldPtr
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
Plugin.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59