gazebo_ros_camera.h
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00001 /*
00002  * Copyright 2012 Open Source Robotics Foundation
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 /*
00018  * Desc: A dynamic controller plugin that publishes ROS image_raw
00019  *    camera_info topic for generic camera sensor.
00020 */
00021 
00022 #ifndef GAZEBO_ROS_CAMERA_HH
00023 #define GAZEBO_ROS_CAMERA_HH
00024 
00025 #include <string>
00026 
00027 // library for processing camera data for gazebo / ros conversions
00028 #include <gazebo/plugins/CameraPlugin.hh>
00029 
00030 #include <gazebo_plugins/gazebo_ros_camera_utils.h>
00031 
00032 namespace gazebo
00033 {
00034   class GazeboRosCamera : public CameraPlugin, GazeboRosCameraUtils
00035   {
00038     public: GazeboRosCamera();
00039 
00041     public: ~GazeboRosCamera();
00042 
00045     public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
00046 
00048     protected: virtual void OnNewFrame(const unsigned char *_image,
00049                    unsigned int _width, unsigned int _height,
00050                    unsigned int _depth, const std::string &_format);
00051   };
00052 }
00053 #endif
00054 


gazebo_plugins
Author(s): John Hsu
autogenerated on Fri Aug 28 2015 10:47:25