text: #pragma once
  
  #include <gazebo/common/common.hh>
  #include <gazebo/gazebo.hh>
  #include <gazebo/physics/physics.hh>
  #include <string>
  #include <vector>
  
  namespace gazebo {
  
  typedef struct {
    double distanceMin;
  
    double distanceMax;
  
    double fovHorizontalDeg;
  
    double fovVerticalDeg;
  
  } DetectionConfig;
  
  namespace TrafficCone {
    const double coneRadius = 0.2;
  
    const double coneColorUnknown = 0;
    const double coneColorBlue = 1;
    const double coneColorYellow = 2;
    const double coneColorRed = 3;
  }
  
  double getConeColorShapeVariable(physics::ModelPtr model);
  
  std::vector<physics::ModelPtr> getConesInWorld(const physics::WorldPtr &world);
  }
  
  