LogicalCameraSensor.hh

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/*
 * Copyright (C) 2019 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_LOGICALCAMERASENSOR_HH_
#define IGNITION_SENSORS_LOGICALCAMERASENSOR_HH_

#include <map>
#include <memory>
#include <string>

#include <sdf/sdf.hh>

#include <ignition/common/PluginMacros.hh>
#include <ignition/common/SuppressWarning.hh>
#include <ignition/common/Time.hh>

#include <ignition/math/Angle.hh>

#ifdef _WIN32
#pragma warning(push)
#pragma warning(disable: 4005)
#pragma warning(disable: 4251)
#endif
#include <ignition/msgs.hh>
#ifdef _WIN32
#pragma warning(pop)
#endif

#include "ignition/sensors/config.hh"
#include "ignition/sensors/Export.hh"
#include "ignition/sensors/logical_camera/Export.hh"
#include "ignition/sensors/Sensor.hh"

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

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

      public: virtual ~LogicalCameraSensor();

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

      public: virtual bool Init() override;

      public: virtual bool IGN_DEPRECATED(4) Update(
        const ignition::common::Time &_now) override;

      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;

      public: double Near() const;

      public: double Far() const;

      public: void SetModelPoses(std::map<std::string, math::Pose3d> &&_models);

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

      public: double AspectRatio() const;

      public: msgs::LogicalCameraImage Image() const;

      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<LogicalCameraSensorPrivate> dataPtr;
      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}

#endif