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MonoCam.hh
Go to the documentation of this file.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 /* Desc: A very simple generic monocular camera 00022 * Author: Andrew Howard (re-write from scratch) 00023 * Date: 15 Nov 2005 00024 * CVS: $Id: MonoCam.hh,v 1.8 2004/11/16 07:03:12 inspectorg Exp $ 00025 */ 00026 00027 #ifndef MONOCAM_HH 00028 #define MONOCAM_HH 00029 00030 #include "Body.hh" 00031 #include "Model.hh" 00032 00033 // Forward declarations 00034 class Camera; 00035 class FrustrumGeom; 00036 00037 00038 class MonoCam : public Model 00039 { 00040 // Constructor, destructor 00041 public: MonoCam( World *world ); 00042 public: virtual ~MonoCam(); 00043 00044 // Load the model 00045 public: virtual int Load( WorldFile *file, WorldFileNode *node ); 00046 00047 // Initialize the model 00048 public: virtual int Init( WorldFile *file, WorldFileNode *node ); 00049 00050 // Finalize the model 00051 public: virtual int Fini(); 00052 00053 // Update the model state 00054 public: virtual void Update( double step ); 00055 00056 // Load ODE stuff 00057 private: int OdeLoad( WorldFile *file, WorldFileNode *node ); 00058 00059 // Update the data in the external interface 00060 private: void PutCameraData(); 00061 00062 // Frustrum for GUI feedback 00063 private: FrustrumGeom *frustrum; 00064 00065 // External interfaces 00066 private: gz_camera_t *cameraIface; 00067 00068 // Horizontal field of view 00069 private: double hfov; 00070 00071 // The camera sensor (does rendering) 00072 private: Camera *camera; 00073 00074 // Time between camera updates 00075 private: double updatePeriod; 00076 private: double updateTime; 00077 00078 // ODE objects 00079 private: Body *body; 00080 private: Geom *imager; 00081 }; 00082 00083 #endif 00084
