GpuRaySensor.hh
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17 #ifndef _GAZEBO_SENSORS_GPURAYSENSOR_HH_
18 #define _GAZEBO_SENSORS_GPURAYSENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <vector>
23 
24 #include <ignition/math/Angle.hh>
25 #include <ignition/math/Pose3.hh>
26 
28 #include "gazebo/sensors/Sensor.hh"
30 #include "gazebo/util/system.hh"
31 
32 namespace gazebo
33 {
36  namespace sensors
37  {
38  // Forward declare private data pointer.
39  class GpuRaySensorPrivate;
40 
44 
50  class GZ_SENSORS_VISIBLE GpuRaySensor: public Sensor
51  {
53  public: GpuRaySensor();
54 
56  public: virtual ~GpuRaySensor();
57 
61  public: virtual void Load(const std::string &_worldName,
62  sdf::ElementPtr _sdf);
63 
66  public: virtual void Load(const std::string &_worldName);
67 
69  public: virtual void Init();
70 
71  // Documentation inherited
72  protected: virtual bool UpdateImpl(const bool _force);
73 
75  protected: virtual void Fini();
76 
77  // Documentation inherited
78  public: virtual std::string Topic() const;
79 
82  public: rendering::GpuLaserPtr LaserCamera() const;
83 
86  public: ignition::math::Angle AngleMin() const;
87 
90  public: void SetAngleMin(const double _angle);
91 
94  public: ignition::math::Angle AngleMax() const;
95 
98  public: void SetAngleMax(const double _angle);
99 
102  public: double AngleResolution() const;
103 
106  public: double RangeMin() const;
107 
110  public: double RangeMax() const;
111 
119  public: double RangeResolution() const;
120 
123  public: int RayCount() const;
124 
127  public: int RangeCount() const;
128 
131  public: int VerticalRayCount() const;
132 
135  public: int VerticalRangeCount() const;
136 
139  public: ignition::math::Angle VerticalAngleMin() const;
140 
143  public: void SetVerticalAngleMin(const double _angle);
144 
147  public: ignition::math::Angle VerticalAngleMax() const;
148 
151  public: void SetVerticalAngleMax(const double _angle);
152 
155  public: double VerticalAngleResolution() const;
156 
166  public: double Range(const int _index) const;
167 
170  public: void Ranges(std::vector<double> &_ranges) const;
171 
181  public: double Retro(const int _index) const;
182 
192  public: int Fiducial(const unsigned int _index) const;
193 
196  public: unsigned int CameraCount() const;
197 
200  public: bool IsHorizontal() const;
201 
208  public: double RayCountRatio() const;
209 
216  public: double RangeCountRatio() const;
217 
220  public: double HorzFOV() const;
221 
224  public: double CosHorzFOV() const;
225 
228  public: double VertFOV() const;
229 
232  public: double CosVertFOV() const;
233 
236  public: double HorzHalfAngle() const;
237 
240  public: double VertHalfAngle() const;
241 
244  public: event::ConnectionPtr ConnectNewLaserFrame(
245  std::function<void(const float *, unsigned int, unsigned int,
246  unsigned int, const std::string &)> _subscriber);
247 
248  // Documentation inherited
249  public: virtual bool IsActive() const;
250 
252  private: void Render();
253 
256  private: std::unique_ptr<GpuRaySensorPrivate> dataPtr;
257  };
259  }
260 }
261 #endif
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
int RayCount() const
Get the ray count.
virtual ~GpuRaySensor()
Destructor.
double RangeMin() const
Get the minimum range.
double Retro(const int _index) const
Get detected retro (intensity) value for a ray.
event::ConnectionPtr ConnectNewLaserFrame(std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
Connect to the new laser frame event.
double HorzHalfAngle() const
Get (horizontal_max_angle + horizontal_min_angle) * 0.5.
Forward declarations for the common classes.
Definition: Animation.hh:26
boost::shared_ptr< GpuLaser > GpuLaserPtr
Definition: RenderTypes.hh:106
double VertFOV() const
Get the vertical field-of-view.
sensors
Definition: SensorManager.hh:35
int VerticalRangeCount() const
Get the vertical scan line count.
Forward declarations for transport.
double HorzFOV() const
Get the horizontal field of view of the laser sensor.
void SetVerticalAngleMin(const double _angle)
Set the vertical scan bottom angle.
double CosHorzFOV() const
Get Cos Horz field-of-view.
ignition::math::Angle VerticalAngleMax() const
Get the vertical scan line top angle.
double Range(const int _index) const
Get detected range for a ray.
int Fiducial(const unsigned int _index) const
Get detected fiducial value for a ray.
ignition::math::Angle VerticalAngleMin() const
Get the vertical scan bottom angle.
double RangeResolution() const
Get the range resolution If RangeResolution is 1, the number of simulated rays is equal to the number...
virtual std::string Topic() const
Returns the topic name as set in SDF.
GPU based laser sensor.
Definition: GpuRaySensor.hh:50
ignition::math::Angle AngleMax() const
Get the maximum angle.
virtual void Load(const std::string &_worldName, sdf::ElementPtr _sdf)
Load the sensor with SDF parameters.
int VerticalRayCount() const
Get the vertical scan line count.
bool IsHorizontal() const
Gets if sensor is horizontal.
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
double CosVertFOV() const
Get Cos Vert field-of-view.
double VertHalfAngle() const
Get (vertical_max_angle + vertical_min_angle) * 0.5.
rendering::GpuLaserPtr LaserCamera() const
Returns a pointer to the internally kept rendering::GpuLaser.
void SetAngleMin(const double _angle)
Set the scan minimum angle.
void SetVerticalAngleMax(const double _angle)
Set the vertical scan line top angle.
GpuRaySensor()
Constructor.
Base class for sensors.
Definition: Sensor.hh:51
double VerticalAngleResolution() const
Get the vertical angle in radians between each range.
virtual void Init()
Initialize the ray.
void SetAngleMax(const double _angle)
Set the scan maximum angle.
double RayCountRatio() const
Return the ratio of horizontal ray count to vertical ray count.
double AngleResolution() const
Get radians between each range.
double RangeCountRatio() const
Return the ratio of horizontal range count to vertical range count.
int RangeCount() const
Get the range count.
double RangeMax() const
Get the maximum range.
void Ranges(std::vector< double > &_ranges) const
Get all the ranges.
unsigned int CameraCount() const
Gets the camera count.
virtual void Fini()
Finalize the ray.
ignition::math::Angle AngleMin() const
Get the minimum angle.
virtual bool IsActive() const
Returns true if sensor generation is active.