Sensor.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: Base class for all sensors
 * Author: Nathan Koenig
 * Date: 25 May 2007
 */

#ifndef SENSOR_HH
#define SENSOR_HH

#include <vector>
#include <boost/enable_shared_from_this.hpp>

#include "sdf/sdf.h"

#include "physics/PhysicsTypes.hh"

#include "msgs/msgs.h"
#include "common/Events.hh"
#include "common/Time.hh"
#include "math/Pose.hh"
#include "transport/TransportTypes.hh"

namespace gazebo
{
  namespace sensors
  {
    
    class Sensor : public boost::enable_shared_from_this<Sensor>
    {
      public: Sensor();
    
      public: virtual ~Sensor();
    
      public: virtual void Load( sdf::ElementPtr &_sdf );

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

      public: virtual void SetParent( const std::string &_name );

      public: std::string GetParentName() const;

      public: void Update(bool _force);
      protected: virtual void UpdateImpl(bool /*_force*/) {}

      public: void SetUpdateRate(double _hz);
    
      public: virtual void Fini();

      public: std::string GetName() const;

      public: virtual math::Pose GetPose() const;
  
      public: virtual void SetActive(bool value);

      public: bool IsActive();

      public: std::string GetType() const;

      public: common::Time GetLastUpdateTime();

      public: bool GetVisualize() const;

      public: std::string GetTopic() const;

      public: void FillMsg(msgs::Sensor &_msg);

      private: void LoadPlugin( sdf::ElementPtr &_sdf );
    
      protected: bool active;
      protected: sdf::ElementPtr sdf; 
      protected: math::Pose pose;
      protected: std::vector<event::ConnectionPtr> connections;
      protected: transport::NodePtr node;
      protected: transport::SubscriberPtr poseSub;

      protected: std::string parentName;
      protected: std::vector<SensorPluginPtr> plugins;

      protected: gazebo::physics::WorldPtr world;
      protected: common::Time updatePeriod;
      protected: common::Time lastUpdateTime;

    };
  }
}
#endif