AltimeterSensor.hh
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1/*
2 * Copyright (C) 2015 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
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16*/
17
18#ifndef _GAZEBO_SENSORS_ALTIMETERSENSOR_HH_
19#define _GAZEBO_SENSORS_ALTIMETERSENSOR_HH_
20
21#include <string>
22
23#include <sdf/sdf.hh>
24
29#include "gazebo/util/system.hh"
30
31namespace gazebo
32{
33 namespace sensors
34 {
35 // Forward declare private data class
36 class AltimeterSensorPrivate;
37
40
42 class GZ_SENSORS_VISIBLE AltimeterSensor: public Sensor
43 {
45 public: AltimeterSensor();
46
48 public: virtual ~AltimeterSensor();
49
50 // Documentation inherited
51 public: virtual void Load(const std::string &_worldName,
52 sdf::ElementPtr _sdf);
53
54 // Documentation inherited
55 public: virtual void Load(const std::string &_worldName);
56
57 // Documentation inherited
58 public: virtual void Init();
59
60 // Documentation inherited
61 public: virtual std::string GetTopic() const;
62
63 // Documentation inherited
64 protected: virtual bool UpdateImpl(const bool _force);
65
66 // Documentation inherited
67 public: virtual void Fini();
68
71 public: double Altitude() const;
72
75 public: double VerticalVelocity() const;
76
79 public: double ReferenceAltitude() const;
80
83 public: void SetReferenceAltitude(const double _refAlt);
84
87 private: std::unique_ptr<AltimeterSensorPrivate> dataPtr;
88 };
90 }
91}
92#endif
default namespace for gazebo
sensors
Definition SensorManager.hh:35
Forward declarations and typedefs for sensors.
Forward declarations for transport.
AltimeterSensor to provide vertical position and velocity.
Definition AltimeterSensor.hh:43
virtual void Fini()
Finalize the sensor.
virtual ~AltimeterSensor()
Destructor.
virtual void Init()
Initialize the sensor.
virtual std::string GetTopic() const
virtual void Load(const std::string &_worldName, sdf::ElementPtr _sdf)
Load the sensor with SDF parameters.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
double Altitude() const
Accessor for current vertical position.
void SetReferenceAltitude(const double _refAlt)
Accessor for current vertical velocity.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
double VerticalVelocity() const
Accessor for current vertical velocity.
double ReferenceAltitude() const
Accessor for the reference altitude.
Base class for sensors.
Definition Sensor.hh:53
Forward declarations for the common classes.
Definition Animation.hh:27