sensor refactoring

include/urdf_sensor/camera.h

@@ -0,0 +1,81 @@
+/*********************************************************************
+* 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.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     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
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* 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>
+
+*/
+
+#ifndef URDF_SENSOR_CAMERA_H
+#define URDF_SENSOR_CAMERA_H
+
+#include <urdf_sensor/types.h>
+
+namespace urdf {
+
+class Camera : public SensorBase
+{
+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;
+  }
+};
+
+}
+#endif

include/urdf_sensor/sensor.h → include/urdf_sensor/ray.h

@@ -36,14 +36,6 @@
 
 /* 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>
@@ -56,58 +48,17 @@
 
 */
 
+#ifndef URDF_SENSOR_RAY_H
+#define URDF_SENSOR_RAY_H
 
+#include <urdf_sensor/types.h>
 
-#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;
-  };
-};
+namespace urdf {
 
-class Ray : public VisualSensor
+class Ray : public SensorBase
 {
 public:
-  Ray() { this->clear(); };
+  Ray() { this->clear(); }
   unsigned int horizontal_samples;
   double horizontal_resolution;
   double horizontal_min_angle;
@@ -128,49 +79,8 @@ class Ray : public VisualSensor
     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

include/urdf_sensor/types.h

@@ -32,20 +32,60 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-/* Author: Steve Peters */
+/* Author: Steve Peters, Robert Haschke */
 
 #ifndef URDF_SENSOR_TYPES_H
 #define URDF_SENSOR_TYPES_H
 
-#include <memory>
+#include "urdf_model/types.h"
+#include "urdf_model/pose.h"
 
+namespace urdf {
 
-namespace urdf{
+URDF_TYPEDEF_CLASS_POINTER(Sensor);
+URDF_TYPEDEF_CLASS_POINTER(SensorBase);
+URDF_TYPEDEF_CLASS_POINTER(Camera);
+URDF_TYPEDEF_CLASS_POINTER(Ray);
 
-class VisualSensor;
+class SensorBase
+{
+public:
+  virtual void clear() = 0;
+  virtual ~SensorBase(void) {}
+};
 
-// typedef shared pointers
-typedef std::shared_ptr<VisualSensor> VisualSensorSharedPtr;
+/** Sensor class is wrapper comprising generic sensor information
+ *  like name, update rate, sensor frame (parent link + origin transform)
+ *  TODO: think about mergin with SensorBase
+ */
+class Sensor
+{
+public:
+  Sensor() { this->clear(); };
+
+  /// sensor name must be unique
+  std::string name_;
+
+  /// update rate in Hz
+  double update_rate_;
+
+  /// name of parent link this sensor is attached to
+  std::string parent_link_;
+
+  /// transform from parent frame sensor frame
+  Pose origin_;
+
+  /// sensor
+  SensorBaseSharedPtr sensor_;
+
+  void clear()
+  {
+    name_.clear();
+    parent_link_.clear();
+    origin_.clear();
+    sensor_.reset();
+  }
+};
 
 }