68 #include "urdf_pose.h" 69 #include "urdf_joint.h" 70 #include "urdf_link.h" 77 enum {CAMERA, RAY} type;
86 Camera() { this->clear(); };
87 unsigned int width, height;
109 Ray() { this->clear(); };
110 unsigned int horizontal_samples;
111 double horizontal_resolution;
112 double horizontal_min_angle;
113 double horizontal_max_angle;
114 unsigned int vertical_samples;
115 double vertical_resolution;
116 double vertical_min_angle;
117 double vertical_max_angle;
122 horizontal_samples = 1;
123 horizontal_resolution = 1;
124 horizontal_min_angle = 0;
125 horizontal_max_angle = 0;
126 vertical_samples = 1;
127 vertical_resolution = 1;
128 vertical_min_angle = 0;
129 vertical_max_angle = 0;
156 std::shared_ptr<Link> getParent()
const 157 {
return parent_link_.lock();};
159 void setParent(std::shared_ptr<Link> parent)
160 { this->parent_link_ = parent; }
165 this->sensor.reset();
166 this->parent_link_name.clear();
167 this->parent_link_.reset();
171 std::weak_ptr<Link> parent_link_;
Definition: urdf_sensor.h:134
std::string name
sensor name must be unique
Definition: urdf_sensor.h:137
Pose origin
Definition: urdf_sensor.h:147
Definition: urdf_sensor.h:83
std::string format
Definition: urdf_sensor.h:90
Definition: urdf_sensor.h:74
Definition: urdf_color.h:46
std::shared_ptr< VisualSensor > sensor
sensor
Definition: urdf_sensor.h:150
Definition: urdf_pose.h:239
Definition: urdf_sensor.h:106
std::string parent_link_name
Parent link element name. A pointer is stored in parent_link_.
Definition: urdf_sensor.h:154
double update_rate
update rate in Hz
Definition: urdf_sensor.h:143