17#ifndef _GAZEBO_SENSORS_SONARSENSOR_HH_
18#define _GAZEBO_SENSORS_SONARSENSOR_HH_
33 class SonarSensorPrivate;
51 public:
virtual void Load(
const std::string &_worldName);
54 public:
virtual void Init();
57 public:
virtual std::string
Topic()
const;
93 std::function<
void (msgs::SonarStamped)> _subscriber);
99 protected:
virtual void Fini();
102 private:
void OnContacts(ConstContactsPtr &_msg);
106 private: std::unique_ptr<SonarSensorPrivate> dataPtr;
sensors
Definition SensorManager.hh:35
Base class for sensors.
Definition Sensor.hh:53
Sensor with sonar cone.
Definition SonarSensor.hh:43
double Radius() const
Get the radius of the sonar cone at maximum range.
double RangeMax() const
Get the minimum range of the sonar.
virtual void Fini()
Finalize the sensor.
virtual void Init()
Initialize the sensor.
double RangeMin() const
Get the minimum range of the sonar.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
std::string Geometry() const
Get the sonar collision shape.
virtual bool IsActive() const
Returns true if sensor generation is active.
virtual std::string Topic() const
Returns the topic name as set in SDF.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
virtual ~SonarSensor()
Destructor.
SonarSensor()
Constructor.
event::ConnectionPtr ConnectUpdate(std::function< void(msgs::SonarStamped)> _subscriber)
Connect a to the new update signal.
double Range()
Get detected range for a sonar.
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
Forward declarations for the common classes.
Definition Animation.hh:27