MultiRayShape.hh
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17 #ifndef GAZEBO_PHYSICS_MULTIRAYSHAPE_HH_
18 #define GAZEBO_PHYSICS_MULTIRAYSHAPE_HH_
19 
20 #include <vector>
21 #include <string>
22 #include <ignition/math/Angle.hh>
23 
25 #include "gazebo/physics/Shape.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
39  class GZ_PHYSICS_VISIBLE MultiRayShape : public Shape
40  {
43  public: explicit MultiRayShape(CollisionPtr _parent);
44 
56  public: explicit MultiRayShape(PhysicsEnginePtr _physicsEngine);
57 
59  public: virtual ~MultiRayShape();
60 
62  public: virtual void Init();
63 
66  public: virtual void SetScale(const ignition::math::Vector3d &_scale);
67 
71  public: double GetRange(unsigned int _index);
72 
76  public: double GetRetro(unsigned int _index);
77 
81  public: int GetFiducial(unsigned int _index);
82 
85  public: double GetMinRange() const;
86 
89  public: double GetMaxRange() const;
90 
93  public: double GetResRange() const;
94 
97  public: int GetSampleCount() const;
98 
101  public: double GetScanResolution() const;
102 
105  public: ignition::math::Angle MinAngle() const;
106 
109  public: ignition::math::Angle MaxAngle() const;
110 
113  public: int GetVerticalSampleCount() const;
114 
117  public: double GetVerticalScanResolution() const;
118 
121  public: ignition::math::Angle VerticalMinAngle() const;
122 
125  public: ignition::math::Angle VerticalMaxAngle() const;
126 
128  public: void Update();
129 
133  public: void FillMsg(msgs::Geometry &_msg);
134 
138  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
139 
141  public: virtual double ComputeVolume() const;
142 
146  public: template<typename T>
148  {return this->newLaserScans.Connect(_subscriber);}
149 
154  public: virtual void UpdateRays() = 0;
155 
159  public: virtual void AddRay(const ignition::math::Vector3d &_start,
160  const ignition::math::Vector3d &_end);
161 
168  public: bool SetRay(const unsigned int _rayIndex,
169  const ignition::math::Vector3d &_start,
170  const ignition::math::Vector3d &_end);
171 
174  public: unsigned int RayCount() const;
175 
180  public: RayShapePtr Ray(const unsigned int _rayIndex) const;
181 
183  protected: std::vector<RayShapePtr> rays;
184 
186  protected: ignition::math::Pose3d offset;
187 
189  protected: sdf::ElementPtr rayElem;
190 
192  protected: sdf::ElementPtr scanElem;
193 
195  protected: sdf::ElementPtr horzElem;
196 
198  protected: sdf::ElementPtr vertElem;
199 
201  protected: sdf::ElementPtr rangeElem;
202 
204  protected: event::EventT<void()> newLaserScans;
205 
207  private: double minRange = 0;
208 
210  private: double maxRange = 1000;
211  };
213  }
214 }
215 #endif
event::ConnectionPtr ConnectNewLaserScans(T _subscriber)
Connect a to the new laser scan signal.
Definition: MultiRayShape.hh:147
virtual void Init()
Init the shape.
double GetMinRange() const
Get the minimum range.
void FillMsg(msgs::Geometry &_msg)
\TODO This function is not implemented.
int GetFiducial(unsigned int _index)
Get detected fiducial value for a ray.
event::EventT< void()> newLaserScans
New laser scans event.
Definition: MultiRayShape.hh:204
Forward declarations for the common classes.
Definition: Animation.hh:26
ignition::math::Angle MaxAngle() const
Get the maximum angle.
virtual double ComputeVolume() const
Documentation inherited.
virtual void AddRay(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
Add a ray to the collision.
ignition::math::Angle VerticalMinAngle() const
Get the vertical min angle.
sdf::ElementPtr vertElem
Vertical SDF element pointer.
Definition: MultiRayShape.hh:198
sdf::ElementPtr rangeElem
Range SDF element pointer.
Definition: MultiRayShape.hh:201
std::vector< RayShapePtr > rays
Ray data.
Definition: MultiRayShape.hh:183
double GetResRange() const
Get the range resolution.
double GetScanResolution() const
Get the horizontal resolution.
bool SetRay(const unsigned int _rayIndex, const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
Set the points of a ray.
RayShapePtr Ray(const unsigned int _rayIndex) const
Get a pointer to a ray.
A class for event processing.
Definition: Event.hh:97
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.
Definition: MultiRayShape.hh:39
ignition::math::Angle VerticalMaxAngle() const
Get the vertical max angle.
double GetMaxRange() const
Get the maximum range.
sdf::ElementPtr rayElem
Ray SDF element pointer.
Definition: MultiRayShape.hh:189
int GetSampleCount() const
Get the horizontal sample count.
sdf::ElementPtr horzElem
Horizontal SDF element pointer.
Definition: MultiRayShape.hh:195
int GetVerticalSampleCount() const
Get the vertical sample count.
ConnectionPtr Connect(const std::function< T > &_subscriber)
Connect a callback to this event.
Definition: Event.hh:558
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
MultiRayShape(CollisionPtr _parent)
Constructor.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual void SetScale(const ignition::math::Vector3d &_scale)
Set the scale of the multi ray shape.
double GetRetro(unsigned int _index)
Get detected retro (intensity) value for a ray.
ignition::math::Pose3d offset
Pose offset of all the rays.
Definition: MultiRayShape.hh:186
double GetRange(unsigned int _index)
Get detected range for a ray.
virtual void ProcessMsg(const msgs::Geometry &_msg)
\TODO This function is not implemented.
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:126
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:114
virtual ~MultiRayShape()
Destructor.
virtual void UpdateRays()=0
Method for updating the rays.
ignition::math::Angle MinAngle() const
Get the minimum angle.
boost::shared_ptr< RayShape > RayShapePtr
Definition: PhysicsTypes.hh:146
void Update()
Update the ray collisions.
double GetVerticalScanResolution() const
Get the vertical range resolution.
unsigned int RayCount() const
Get the number of rays.
Base class for all shapes.
Definition: Shape.hh:39
sdf::ElementPtr scanElem
Scan SDF element pointer.
Definition: MultiRayShape.hh:192