RaySensor.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: RaySensor proximity sensor
 * Author: Nate Koenig
 * Date: 23 february 2004
 * SVN: $Id$
*/

#ifndef RAYSENSOR_HH
#define RAYSENSOR_HH

#include <vector>

#include "math/Angle.hh"
#include "math/Pose.hh"
#include "transport/TransportTypes.hh"
#include "sensors/Sensor.hh"

namespace gazebo
{
  class OgreDynamicLines;
  class Collision;
  class MultiRayShape;

  namespace sensors
  {

    
    class RaySensor: public Sensor
    {
      public: RaySensor();
    
      public: virtual ~RaySensor();
    
      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: math::Angle GetAngleMin() const;
    
      public: math::Angle GetAngleMax() const;
   
      public: double GetAngleResolution() const;

      public: double GetRangeMin() const;
    
      public: double GetRangeMax() const;
    
      public: double GetRangeResolution() const;
    
      public: int GetRayCount() const;
    
      public: int GetRangeCount() const;
    
      public: int GetVerticalRayCount() const;
    
      public: int GetVerticalRangeCount() const;
    
      public: math::Angle GetVerticalAngleMin() const;
    
      public: math::Angle GetVerticalAngleMax() const;

      public: double GetRange(int index);   
    
      public: double GetRetro(int index);   
    
      public: int GetFiducial(int index);   
    
      private: physics::LinkPtr link;
      private: physics::CollisionPtr laserCollision;
      private: physics::MultiRayShapePtr laserShape;

      private: transport::NodePtr node;
      private: transport::PublisherPtr scanPub;
    };
  }
}

#endif