Ignition Gazebo: RayQuery()

asked 2020-02-10 15:22:34 -0600

jmoxoby gravatar image

Hi all,

I'm new to Ignition Gazebo and trying to understand the general architectural structure of it.

I'm building a new simple range sensor system plugin that will measure the distance along some direction using a ray query. To create a ray query I need a pointer to the underlying world scene (scene->CreateRayQuery()). My question is: how do I get a pointer to the scene when implementing the Configure/Update/PostUpdate functions?

Thank you.

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