MultiRayShape.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.
 *
*/
#ifndef MULTIRAYGEOM_HH
#define MULTIRAYGEOM_HH

#include <vector>

#include "common/Exception.hh"
#include "common/Console.hh"
#include "math/Vector3.hh"
#include "math/Angle.hh"

#include "physics/Collision.hh"
#include "physics/Shape.hh"
#include "physics/RayShape.hh"

namespace gazebo
{
  namespace msgs
  {
    class Visual;
  }

    namespace physics
  {

    class MultiRayShape : public Shape
    {
      public: MultiRayShape(CollisionPtr parent);
    
      public: virtual ~MultiRayShape();
  
      public: virtual void Load( sdf::ElementPtr &_sdf );
 
      public: virtual void Init();
              
      public: void SetDisplayType(const std::string &type);
    
      public: double GetRange(int index);
    
      public: double GetRetro(int index);
    
      public: int GetFiducial(int index);
  
      public: double GetMinRange() const;
  
      public: double GetMaxRange() const;

      public: double GetResRange() const;


      public: int GetSampleCount() const;
  
      public: double GetScanResolution() const;
  
      public: math::Angle GetMinAngle() const;
              
      public: math::Angle GetMaxAngle() const;



  
      public: int GetVerticalSampleCount() const;
  
      public: double GetVerticalScanResolution() const;
  
      public: math::Angle GetVerticalMinAngle() const;
  
      public: math::Angle GetVerticalMaxAngle() const;
  
      public: void Update();
    
      public: void FillShapeMsg(msgs::Geometry &) {}

      public: virtual void ProcessMsg(const msgs::Geometry &) {}

      protected: virtual void UpdateRays() = 0;
    
      protected: virtual void AddRay(const math::Vector3 &start, 
                                     const math::Vector3 &end );
    
      protected: std::vector< RayShapePtr > rays;
  
      protected: math::Vector3 offset;
      protected: sdf::ElementPtr rayElem;
      protected: sdf::ElementPtr scanElem;
      protected: sdf::ElementPtr horzElem;
      protected: sdf::ElementPtr vertElem;
      protected: sdf::ElementPtr rangeElem;
    };
  
  }

}
#endif