CameraSensor.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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: A persepective X11 OpenGL Camera Sensor
 * Author: Nate Koenig
 * Date: 15 July 2003
 */

#ifndef CAMERASENSOR_HH
#define CAMERASENSOR_HH

#include "sensors/Sensor.hh"
#include "msgs/MessageTypes.hh"
#include "rendering/RenderTypes.hh"

namespace gazebo
{
  
  namespace sensors
  {
 
    class CameraSensor : public Sensor
    {
      public: CameraSensor();
    
      public: virtual ~CameraSensor();

      public: virtual void SetParent( const std::string &_name );
   
      public: virtual void Load( sdf::ElementPtr &_sdf );

      public: virtual void Load();
    
      public: virtual void Init();

      protected: virtual void UpdateImpl(bool _force);
    
      protected: virtual void Fini();
    
      public: virtual void SetActive(bool value);
    
      public: rendering::CameraPtr GetCamera() const {return this->camera; };

      public: unsigned int GetImageWidth() const;
      public: unsigned int GetImageHeight() const;
      public: const unsigned char *GetImageData();

      private: void OnPose(ConstPosePtr &_msg);

      private: rendering::CameraPtr camera;

      private: rendering::ScenePtr scene;
    };
  }
}
#endif