text: /*
   * Copyright (C) 2012 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_SENSORS_SONARSENSOR_HH_
  #define _GAZEBO_SENSORS_SONARSENSOR_HH_
  
  #include <memory>
  #include <string>
  
  #include "gazebo/sensors/Sensor.hh"
  #include "gazebo/util/system.hh"
  
  namespace gazebo
  {
    /// \ingroup gazebo_sensors
    /// \brief Sensors namespace
    namespace sensors
    {
      // Forward declare private data class.
      class SonarSensorPrivate;
  
      /// \addtogroup gazebo_sensors
      /// \{
  
      /// \class SonarSensor SonarSensor.hh sensors/sensors.hh
      /// \brief Sensor with sonar cone.
      ///
      /// This sensor uses a cone .
      class GZ_SENSORS_VISIBLE SonarSensor: public Sensor
      {
        /// \brief Constructor
        public: SonarSensor();
  
        /// \brief Destructor
        public: virtual ~SonarSensor();
  
        // Documentation inherited
        public: virtual void Load(const std::string &_worldName);
  
        // Documentation inherited
        public: virtual void Init();
  
        // Documentation inherited
        public: virtual std::string Topic() const;
  
        /// \brief Get the minimum range of the sonar
        /// \return The sonar's minimum range.
        public: double RangeMin() const;
  
        /// \brief Get the minimum range of the sonar.
        /// \return The sonar's maximum range.
        public: double RangeMax() const;
  
        /// \brief Get the radius of the sonar cone at maximum range.
        /// \return The radius of the sonar cone at max range.
        public: double Radius() const;
  
        /// \brief Get detected range for a sonar.
        ///         Warning: If you are accessing all the ray data in a loop
        ///         it's possible that the Ray will update in the middle of
        ///         your access loop. This means some data will come from one
        ///         scan, and some from another scan. You can solve this
        ///         problem by using SetActive(false) <your accessor loop>
        ///         SetActive(true).
        /// \return Returns DBL_MAX for no detection.
        public: double Range();
  
  
        // Documentation inherited
        public: virtual bool IsActive() const;
  
        /// \brief Connect a to the new update signal.
        /// \param[in] _subscriber Callback function.
        /// \return The connection, which must be kept in scope.
        public: event::ConnectionPtr ConnectUpdate(
                    std::function<void (msgs::SonarStamped)> _subscriber);
  
        // Documentation inherited
        protected: virtual bool UpdateImpl(const bool _force);
  
        // Documentation inherited
        protected: virtual void Fini();
  
        /// \brief Callback for contact messages from the physics engine.
        private: void OnContacts(ConstContactsPtr &_msg);
  
        /// \internal
        /// \brief Internal data pointer
        private: std::unique_ptr<SonarSensorPrivate> dataPtr;
      };
      /// \}
    }
  }
  #endif
  