WirelessTransceiver.hh
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1/*
2 * Copyright (C) 2012 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.
15 *
16*/
17#ifndef _GAZEBO_SENSORS_WIRELESSTRANSCEIVER_HH_
18#define _GAZEBO_SENSORS_WIRELESSTRANSCEIVER_HH_
19
20#include <string>
21#include <ignition/math/Pose3.hh>
22
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
30 namespace sensors
31 {
34
37 class GZ_SENSORS_VISIBLE WirelessTransceiver: public Sensor
38 {
41
44
45 // Documentation inherited
46 public: virtual std::string Topic() const;
47
48 // Documentation inherited
49 public: virtual void Load(const std::string &_worldName);
50
51 // Documentation inherited
52 public: virtual void Init();
53
54 // Documentation inherited
55 public: virtual void Fini();
56
59 public: double Gain() const;
60
63 public: double Power() const;
64
67
69 protected: double power = 14.5;
70
72 protected: double gain = 2.5;
73
75 protected: boost::weak_ptr<physics::Link> parentEntity;
76
78 protected: ignition::math::Pose3d referencePose;
79 };
81 }
82}
83#endif
default namespace for gazebo
sensors
Definition SensorManager.hh:35
Forward declarations for transport.
Base class for sensors.
Definition Sensor.hh:53
Sensor class for receiving wireless signals.
Definition WirelessTransceiver.hh:38
virtual void Fini()
Finalize the sensor.
virtual void Init()
Initialize the sensor.
ignition::math::Pose3d referencePose
Sensor reference pose.
Definition WirelessTransceiver.hh:78
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
virtual std::string Topic() const
Returns the topic name as set in SDF.
double power
Receiver's power (dBm).
Definition WirelessTransceiver.hh:69
double Power() const
Returns the receiver power (dBm).
boost::weak_ptr< physics::Link > parentEntity
Parent entity which the sensor is attached to.
Definition WirelessTransceiver.hh:75
double gain
Antenna's gain of the receiver (dBi).
Definition WirelessTransceiver.hh:72
double Gain() const
Returns the antenna's gain of the receiver (dBi).
transport::PublisherPtr pub
Publisher to publish propagation model data.
Definition WirelessTransceiver.hh:66
boost::shared_ptr< Publisher > PublisherPtr
Definition TransportTypes.hh:49
Forward declarations for the common classes.
Definition Animation.hh:27