##

RayPlugin Class Reference

A Ray Sensor Plugin. More...

`#include <RayPlugin.hh>`

Inherits SensorPlugin.

## Public Types

typedef boost::shared_ptr< SensorPlugin > | TPtr
| plugin pointer type definition More...

## Public Member Functions

| RayPlugin ()
| Constructor. More...
virtual | ~RayPlugin ()
| Destructor. More...
std::string | GetFilename () const
| Get the name of the handler. More...
std::string | GetHandle () const
| Get the short name of the handler. More...
PluginType | GetType () const
| Returns the type of the plugin. More...
virtual void | Init ()
| Override this method for custom plugin initialization behavior. More...
void | Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
| Load the plugin. More...
virtual void | OnNewLaserScans ()
| Update callback. More...
virtual void | Reset ()
| Override this method for custom plugin reset behavior. More...

## Static Public Member Functions

static TPtr | Create (const std::string &_filename, const std::string &_name)
| a class method that creates a plugin from a file name. More...

## Protected Member Functions

void | LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
| Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...
void | LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
| Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

## Protected Attributes

std::string | filename
| Path to the shared library file. More...
std::string | handleName
| Short name. More...
PluginType | type
| Type of plugin. More...
physics::WorldPtr | world
| Pointer to parent. More...

## Detailed Description

A Ray Sensor Plugin.

## Member Typedef Documentation

## TPtr

typedef boost::shared_ptr<SensorPlugin > TPtr

inherited

plugin pointer type definition

## Constructor & Destructor Documentation

## RayPlugin()

RayPlugin | ( |  | ) |

Constructor.

## ~RayPlugin()

virtual ~RayPlugin | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## Create()

static TPtr Create | ( | const std::string & | _filename,
|  | const std::string & | _name
| ) |  |

inline static inherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

  [in] | _filename | the path to the shared library.
  [in] | _name | short name of the plugin

Returns
  Shared Pointer to this class type

## GetFilename()

std::string GetFilename | ( |  | ) | const

inline inherited

Get the name of the handler.

## GetHandle()

std::string GetHandle | ( |  | ) | const

inline inherited

Get the short name of the handler.

## GetType()

PluginType GetType | ( |  | ) | const

inline inherited

Returns the type of the plugin.

Returns
  type of the plugin

## Init()

virtual void Init | ( |  | ) |

inline virtual inherited

Override this method for custom plugin initialization behavior.

Reimplemented in PressurePlugin, and FiducialCameraPlugin.

## Load()

void Load | ( | sensors::SensorPtr | _parent,
|  | sdf::ElementPtr | _sdf
| ) |  |

virtual

Load the plugin.

Parameters

  take | in SDF root element

Implements SensorPlugin.

## LoadParam() [1/2]

void LoadParam | ( | const sdf::ElementPtr & | _sdf,
|  | const std::string & | _name,
|  | V & | _target,
|  | V | _defaultValue = `V()`
| ) |  | const

inline protected inherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

  [in] | _sdf | The SDF element of the plugin.
  [in] | _name | Name of a tag inside the SDF.
  [out] | _target | The reference to store the param value to.
  [in] | _defaultValue | The default value.

## LoadParam() [2/2]

void LoadParam | ( | sdf::ElementPtr & | _sdf,
|  | const std::string & | _name,
|  | std::string & | _target,
|  | const char * | _defaultValue
| ) |  | const

inline protected inherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

  [in] | _sdf | The SDF element of the plugin.
  [in] | _name | Name of a tag inside the SDF.
  [out] | _target | The reference to store the param value to.
  [in] | _defaultValue | The default value.

## OnNewLaserScans()

virtual void OnNewLaserScans | ( |  | ) |

virtual

Update callback.

## Reset()

virtual void Reset | ( |  | ) |

inline virtual inherited

Override this method for custom plugin reset behavior.

## Member Data Documentation

## filename

std::string filename

protected inherited

Path to the shared library file.

## handleName

std::string handleName

protected inherited

Short name.

## type

PluginType type

protected inherited

Type of plugin.

## world

physics::WorldPtr world

protected

Pointer to parent.

The documentation for this class was generated from the following file:

- RayPlugin.hh