text: /*
   * Copyright (C) 2012-2016 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.
   *
  */
  
  #ifndef _GAZEBO_GPU_LASER_PLUGIN_HH_
  #define _GAZEBO_GPU_LASER_PLUGIN_HH_
  
  #include <string>
  
  #include "gazebo/common/Plugin.hh"
  #include "gazebo/sensors/CameraSensor.hh"
  #include "gazebo/rendering/RenderTypes.hh"
  #include "gazebo/util/system.hh"
  
  namespace gazebo
  {
    class GAZEBO_VISIBLE GpuRayPlugin : public SensorPlugin
    {
      public: GpuRayPlugin();
  
      public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
  
      public: virtual void OnNewLaserFrame(const float *_image,
                  unsigned int _width, unsigned int _height,
                  unsigned int _depth, const std::string &_format);
  
      protected: unsigned int width, height/*, depth*/;
  
      protected: sensors::GpuRaySensorPtr parentSensor;
  
      private: event::ConnectionPtr newLaserFrameConnection;
    };
  }
  #endif
  