text: /*
   * Copyright (C) 2012-2014 Open Source Robotics Foundation
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *
  */
  /*
   * Desc: Contact plugin
   * Author: Nate Koenig mod by John Hsu
   */
  
  #include "gazebo/physics/physics.hh"
  #include "RayPlugin.hh"
  
  using namespace gazebo;
  
  // Register this plugin with the simulator
  GZ_REGISTER_SENSOR_PLUGIN(RayPlugin)
  
  /////////////////////////////////////////////////
  RayPlugin::RayPlugin()
  {
  }
  
  /////////////////////////////////////////////////
  RayPlugin::~RayPlugin()
  {
    this->parentSensor->GetLaserShape()->DisconnectNewLaserScans(
        this->newLaserScansConnection);
    this->newLaserScansConnection.reset();
  
    this->parentSensor.reset();
    this->world.reset();
  }
  
  /////////////////////////////////////////////////
  void RayPlugin::Load(sensors::SensorPtr _parent, sdf::ElementPtr /*_sdf*/)
  {
    // Get then name of the parent sensor
    this->parentSensor =
      boost::dynamic_pointer_cast<sensors::RaySensor>(_parent);
  
    if (!this->parentSensor)
      gzthrow("RayPlugin requires a Ray Sensor as its parent");
  
    this->world = physics::get_world(this->parentSensor->GetWorldName());
  
    this->newLaserScansConnection =
      this->parentSensor->GetLaserShape()->ConnectNewLaserScans(
        boost::bind(&RayPlugin::OnNewLaserScans, this));
  }
  
  /////////////////////////////////////////////////
  void RayPlugin::OnNewLaserScans()
  {
    /* overload with useful callback here */
  }
  