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StereoHead.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: Generic stereo camera model 00022 * Author: Andrew Howard 00023 * Date: 8 Oct 2004 00024 * CVS: $Id: StereoHead.hh,v 1.3 2004/11/10 06:46:12 inspectorg Exp $ 00025 */ 00026 00027 #ifndef STEREOHEAD_HH 00028 #define STEREOHEAD_HH 00029 00030 #include "Model.hh" 00031 00032 00033 // Forward declarations 00034 class Camera; 00035 class StereoCamera; 00036 class FrustrumGeom; 00037 typedef struct gz_camera gz_camera_t; 00038 00039 00040 class StereoHead : public Model 00041 { 00042 // Constructor 00043 public: StereoHead(World *world); 00044 00045 // Destructor 00046 public: virtual ~StereoHead(); 00047 00048 // Load the model 00049 public: virtual int Load(WorldFile *file, WorldFileNode *node); 00050 00051 // Initialize the model 00052 public: virtual int Init(WorldFile *file, WorldFileNode *node); 00053 00054 // Finalize the model 00055 public: virtual int Fini(); 00056 00057 // Update the model state 00058 public: virtual void Update( double step ); 00059 00060 // Get camera commands 00061 private: void GetCameraCmd(); 00062 00063 // Send camera data 00064 private: void PutCameraData(); 00065 00066 // A dummy body (every model must have one) 00067 private: Body *body; 00068 00069 // Camera sensor 00070 private: StereoCamera *stereoSensor; 00071 00072 // Frustrum for GUI feedback 00073 private: FrustrumGeom *frustrum; 00074 00075 // Camera interface 00076 private: gz_stereo_t *stereo; 00077 00078 // Time in seconds between updates 00079 private: double updatePeriod; 00080 00081 // The time the last update occured 00082 private: double updateTime; 00083 }; 00084 00085 #endif
