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/*
* Copyright (C) 2012 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.
*
*/
#include <functional>
#include "gazebo/physics/physics.hh"
#include "RayPlugin.hh"
using namespace gazebo;
// Register this plugin with the simulator
GZ_REGISTER_SENSOR_PLUGIN(RayPlugin)
/////////////////////////////////////////////////
RayPlugin::RayPlugin()
{
}
/////////////////////////////////////////////////
RayPlugin::~RayPlugin()
{
this->newLaserScansConnection.reset();
this->parentSensor.reset();
this->world.reset();
}
/////////////////////////////////////////////////
void RayPlugin::Load(sensors::SensorPtr _parent, sdf::ElementPtr /*_sdf*/)
{
// Get then name of the parent sensor
this->parentSensor =
std::dynamic_pointer_cast<sensors::RaySensor>(_parent);
if (!this->parentSensor)
gzthrow("RayPlugin requires a Ray Sensor as its parent");
this->world = physics::get_world(this->parentSensor->WorldName());
this->newLaserScansConnection =
this->parentSensor->LaserShape()->ConnectNewLaserScans(
std::bind(&RayPlugin::OnNewLaserScans, this));
}
/////////////////////////////////////////////////
void RayPlugin::OnNewLaserScans()
{
/* overload with useful callback here */
}
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