SensorFactory.hh

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/*
 * Copyright (C) 2012-2016 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.
 *
*/
/*
 * Desc: Factory for creating sensors
 * Author: Andrew Howard
 * Date: 18 May 2003
 */

#ifndef _SENSORFACTORY_HH_
#define _SENSORFACTORY_HH_

#include <string>
#include <map>
#include <vector>

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

namespace gazebo
{
  namespace sensors
  {
  typedef Sensor* (*SensorFactoryFn) ();

  class GAZEBO_VISIBLE SensorFactory
  {
    public: static void RegisterAll();

    public: static void RegisterSensor(const std::string &_className,
                                       SensorFactoryFn _factoryfn);

    public: static SensorPtr NewSensor(const std::string &_className);

    public: static void GetSensorTypes(std::vector<std::string> &_types);

    private: static std::map<std::string, SensorFactoryFn> sensorMap;
  };


  #define GZ_REGISTER_STATIC_SENSOR(name, classname) \
  GAZEBO_VISIBLE Sensor *New##classname() \
  { \
    return new gazebo::sensors::classname(); \
  } \
  GAZEBO_VISIBLE \
  void Register##classname() \
  {\
    SensorFactory::RegisterSensor(name, New##classname);\
  }
  }
}

#endif