OculusCamera.hh

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/*
 * Copyright (C) 2014-2016 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_OCULUS_CAMERA_HH_
#define _GAZEBO_OCULUS_CAMERA_HH_

#include <string>

#include "gazebo/rendering/Camera.hh"

namespace gazebo
{
  namespace rendering
  {
    class OculusCameraPrivate;


    class GZ_RENDERING_VISIBLE OculusCamera : public Camera
    {
      public: OculusCamera(const std::string &_name, ScenePtr _scene);

      public: virtual ~OculusCamera();

      public: void Load(sdf::ElementPtr _sdf);

      public: void Load();

      public: void Init();

      public: virtual void Update();

      public: virtual void PostRender();

      public: void Fini();

      public: void Resize(unsigned int _w, unsigned int _h);

      public: void MoveToVisual(VisualPtr _visual);

      // Doxygen automatically pulls in the correct documentation.
      public: virtual bool MoveToPosition(const math::Pose &_pose,
                                          double _time);

      public: void MoveToVisual(const std::string &_visualName);

      public: virtual void SetRenderTarget(Ogre::RenderTarget *_target);

      public: void AdjustAspect(double _v);

      // Documentation inherited
      public: virtual unsigned int GetImageWidth() const;

      // Documentation inherited
      public: virtual unsigned int GetImageHeight() const;

      public: void ResetSensor();

      public: bool Ready();

      // Documentation inherited
      protected: virtual void RenderImpl();

      protected: virtual bool AttachToVisualImpl(VisualPtr _visual,
                     bool _inheritOrientation, double _minDist = 0,
                     double _maxDist = 0);

      protected: virtual bool TrackVisualImpl(VisualPtr _visual);

      private: void OnControl(ConstWorldControlPtr &_data);

      private: void Oculus();

      private: OculusCameraPrivate *dataPtr;
    };
  }
}
#endif