IRSensor.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: IRSensor proximity sensor
 * Author: Carle Cote
 * Date: 23 february 2004
*/

#ifndef IRSENSOR_HH
#define IRSENSOR_HH

#include <vector>

#include "Sensor.hh"
#include "Body.hh"

namespace gazebo
{
  class RayCollision;
  class RaySensor;

  namespace sensors
  {
    
    class IRSensor: public Sensor
    {
      public: IRSensor(Body *body);
    
      public: virtual ~IRSensor();
    
      protected: virtual void LoadChild( sdf::ElementPtr &_sdf );
    
      protected: virtual void InitChild();
    
      protected: virtual void UpdateChild();
      
      protected: virtual void FiniChild();
    
      public: unsigned int GetIRCount() const;
    
      public: double GetRange(unsigned int index) const;
    
      public: Pose GetPose(unsigned int index) const;
    
      private: std::vector<RaySensor*> irBeams;
    
    };
  }
}

#endif