GpuLidarSensor.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2018 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 IGNITION_SENSORS_GPULIDARSENSOR_HH_
#define IGNITION_SENSORS_GPULIDARSENSOR_HH_

#include <memory>
#include <string>

#include <sdf/sdf.hh>

#include <ignition/rendering/GpuRays.hh>

#include "ignition/sensors/gpu_lidar/Export.hh"
#include "ignition/sensors/RenderingEvents.hh"
#include "ignition/sensors/Lidar.hh"

namespace ignition
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
    //
    class GpuLidarSensorPrivate;

    class IGNITION_SENSORS_GPU_LIDAR_VISIBLE GpuLidarSensor : public Lidar
    {
      public: GpuLidarSensor();

      public: virtual ~GpuLidarSensor();

      public: virtual bool Update(const common::Time &_now) override;

      public: virtual bool Init() override;

      public: virtual bool Load(const sdf::Sensor &_sdf) override;

      public: virtual bool Load(sdf::ElementPtr _sdf) override;

      public: virtual bool CreateLidar() override;

      public: bool IsHorizontal() const;

      public: void SetScene(ignition::rendering::ScenePtr _scene) override;

      public: void RemoveGpuRays(ignition::rendering::ScenePtr _scene);

      public: ignition::rendering::GpuRaysPtr GpuRays() const;

      public: double RayCountRatio() const;

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

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

      public: virtual ignition::common::ConnectionPtr ConnectNewLidarFrame(
          std::function<void(const float *_scan, unsigned int _width,
                  unsigned int _heighti, unsigned int _channels,
                  const std::string &/*_format*/)> _subscriber) override;

      private: std::unique_ptr<GpuLidarSensorPrivate> dataPtr;
    };
    }
  }
}

#endif