40 lines
1.4 KiB
C++
40 lines
1.4 KiB
C++
// Copyright 1996-2024 Cyberbotics Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// https://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RANGE_FINDER_HPP
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#define RANGE_FINDER_HPP
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#include <webots/Device.hpp>
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namespace webots {
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class RangeFinder : public Device {
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public:
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explicit RangeFinder(const std::string &name) : Device(name) {} // Use Robot::getRangeFinder() instead
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explicit RangeFinder(WbDeviceTag tag) : Device(tag) {}
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virtual ~RangeFinder() {}
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virtual void enable(int samplingPeriod);
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virtual void disable();
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int getSamplingPeriod() const;
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const float *getRangeImage() const;
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int getWidth() const;
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int getHeight() const;
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double getFov() const;
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double getMinRange() const;
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double getMaxRange() const;
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int saveImage(const std::string &filename, int quality) const;
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static float rangeImageGetDepth(const float *image, int width, int x, int y);
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};
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} // namespace webots
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#endif // RANGE_FINDER_HPP
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