

#ifndef _LASERVISUAL_HH_
#define _LASERVISUAL_HH_

#include <string>

#include "gazebo/common/Color.hh"
#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/rendering/Visual.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {
    /// \addtogroup gazebo_rendering
    /// \{

    /// \class LaserVisual LaserVisual.hh rendering/rendering.hh
    /// \brief Visualization for laser data.
    class GAZEBO_VISIBLE LaserVisual : public Visual
    {
      /// \brief Constructor.
      /// \param[in] _name Name of the visual.
      /// \param[in] _vis Pointer to the parent Visual.
      /// \param[in] _topicName Name of the topic that has laser data.
      public: LaserVisual(const std::string &_name, VisualPtr _vis,
                          const std::string &_topicName);

      /// \brief Destructor.
      public: virtual ~LaserVisual();

      /// Documentation inherited from parent.
      public: virtual void SetEmissive(const common::Color &_color);

      /// \brief Callback when laser data is received.
      private: void OnScan(ConstLaserScanStampedPtr &_msg);

      /// \brief Update the Visual
      private: void Update();
    };
    /// \}
  }
}
#endif
