LogicalCameraSensor.hh

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/*
 * Copyright (C) 2015-2016 Open Source Robotics Foundation
 *
 * 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 _GAZEBO_LOGICAL_CAMERASENSOR_HH_
#define _GAZEBO_LOGICAL_CAMERASENSOR_HH_

#include <memory>
#include <string>
#include <sdf/sdf.hh>

#include "gazebo/sensors/Sensor.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {
    // Forward declare private data class
    class LogicalCameraSensorPrivate;


    class GAZEBO_VISIBLE LogicalCameraSensor : public Sensor
    {
      public: LogicalCameraSensor();

      public: virtual ~LogicalCameraSensor();

      // Documentation inherited
      public: virtual void Load(const std::string &_worldName,
                                sdf::ElementPtr _sdf);

      // Documentation inherited
      public: virtual void Load(const std::string &_worldName);

      // Documentation inherited
      public: virtual void Init();

      // Documentation inherited
      // Remove this in gazebo8.
      public: virtual std::string GetTopic() const;

      public: double Near() const;

      public: double Far() const;

      public: ignition::math::Angle HorizontalFOV() const;

      public: double AspectRatio() const;

      public: msgs::LogicalCameraImage Image() const;

      // Documentation inherited
      protected: virtual bool UpdateImpl(const bool _force);

      // \brief Finalize the logical camera
      protected: virtual void Fini();

      // Documentation inherited
      public: virtual bool IsActive() const;

      // Documentation inherited.
      // Move this to the public section in gazebo8. Basically move this
      // function up in this file to be grouped with other public functions
      // per the Gazebo style guide. This should replace the GetTopic
      // function.
      public: virtual std::string Topic() const;

      // \internal
      // \brief Private data pointer
      private: std::unique_ptr<LogicalCameraSensorPrivate> dataPtr;
    };
  }
}
#endif