/usr/include/urdf_sensor/sensor.h is in liburdfdom-headers-dev 0.4.1-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
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* disclaimer in the documentation and/or other materials provided
* with the distribution.
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* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/* Author: John Hsu */
/* example
<sensor name="my_camera_sensor" update_rate="20">
<origin xyz="0 0 0" rpy="0 0 0"/>
<camera>
<horizontal_hov>1.5708</horizontal_hov>
<image width="640" height="480" format="R8G8B8"/>
<clip near="0.01" far="50.0"/>
</camera>
</sensor>
<sensor name="my_ray_sensor" update_rate="20">
<origin xyz="0 0 0" rpy="0 0 0"/>
<ray>
<scan>
<horizontal samples="100" resolution="1" min_angle="-1.5708" max_angle="1.5708"/>
<vertical samples="1" resolution="1" min_angle="0" max_angle="0"/>
</scan>
</ray>
</sensor>
*/
#ifndef URDF_SENSOR_H
#define URDF_SENSOR_H
#include <string>
#include <vector>
#include <map>
#include "urdf_model/pose.h"
#include "urdf_model/joint.h"
#include "urdf_model/link.h"
#include "urdf_model/types.h"
#include "urdf_sensor/types.h"
namespace urdf{
class VisualSensor
{
public:
enum {CAMERA, RAY} type;
virtual ~VisualSensor(void)
{
}
};
class Camera : public VisualSensor
{
public:
Camera() { this->clear(); };
unsigned int width, height;
/// format is optional: defaults to R8G8B8), but can be
/// (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
std::string format;
double hfov;
double near;
double far;
void clear()
{
hfov = 0;
width = 0;
height = 0;
format.clear();
near = 0;
far = 0;
};
};
class Ray : public VisualSensor
{
public:
Ray() { this->clear(); };
unsigned int horizontal_samples;
double horizontal_resolution;
double horizontal_min_angle;
double horizontal_max_angle;
unsigned int vertical_samples;
double vertical_resolution;
double vertical_min_angle;
double vertical_max_angle;
void clear()
{
// set defaults
horizontal_samples = 1;
horizontal_resolution = 1;
horizontal_min_angle = 0;
horizontal_max_angle = 0;
vertical_samples = 1;
vertical_resolution = 1;
vertical_min_angle = 0;
vertical_max_angle = 0;
};
};
class Sensor
{
public:
Sensor() { this->clear(); };
/// sensor name must be unique
std::string name;
/// update rate in Hz
double update_rate;
/// transform from parent frame to optical center
/// with z-forward and x-right, y-down
Pose origin;
/// sensor
VisualSensorSharedPtr sensor;
/// Parent link element name. A pointer is stored in parent_link_.
std::string parent_link_name;
LinkSharedPtr getParent() const
{return parent_link_.lock();};
void setParent(LinkSharedPtr parent)
{ this->parent_link_ = parent; }
void clear()
{
this->name.clear();
this->sensor.reset();
this->parent_link_name.clear();
this->parent_link_.reset();
};
private:
LinkWeakPtr parent_link_;
};
}
#endif
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