gazebo_ros_camera.h
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00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /*
00022  * Desc: A dynamic controller plugin that publishes ROS image_raw camera_info topic for generic camera sensor.
00023  * Author: John Hsu
00024  * Date: 24 Sept 2008
00025  * SVN: $Id$
00026  */
00027 #ifndef GAZEBO_ROS_CAMERA_HH
00028 #define GAZEBO_ROS_CAMERA_HH
00029 
00030 // library for processing camera data for gazebo / ros conversions
00031 #include <gazebo_plugins/gazebo_ros_camera_utils.h>
00032 #include "plugins/CameraPlugin.hh"
00033 
00034 namespace gazebo
00035 {
00036 
00037   class GazeboRosCamera : public CameraPlugin, GazeboRosCameraUtils
00038   {
00041     public: GazeboRosCamera();
00042 
00044     public: ~GazeboRosCamera();
00045 
00048     public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
00049 
00051     protected: virtual void OnNewFrame(const unsigned char *_image, 
00052                    unsigned int _width, unsigned int _height, 
00053                    unsigned int _depth, const std::string &_format);
00054 
00055 
00056   };
00057 
00058 }
00059 #endif
00060 


gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Mon Oct 6 2014 12:15:44