Sensor.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_SENSOR_HH_
18#define GAZEBO_SENSORS_SENSOR_HH_
19
20#include <vector>
21#include <memory>
22#include <map>
23#include <string>
24
25#include <sdf/sdf.hh>
26#include <ignition/math/Pose3.hh>
27#include <ignition/transport/Node.hh>
28
32
33#include "gazebo/msgs/msgs.hh"
35#include "gazebo/common/Time.hh"
37#include "gazebo/util/system.hh"
38
39namespace gazebo
40{
41 namespace sensors
42 {
43 // Forward declare private data
44 class SensorPrivate;
45
48
51 class GZ_SENSORS_VISIBLE Sensor
52 : public std::enable_shared_from_this<Sensor>
53 {
56 public: explicit Sensor(SensorCategory _cat);
57
59 public: virtual ~Sensor();
60
64 public: virtual void Load(const std::string &_worldName,
65 sdf::ElementPtr _sdf);
66
69 public: virtual void Load(const std::string &_worldName);
70
72 public: virtual void Init();
73
77 public: void SetParent(const std::string &_name, const uint32_t _id);
78
82 public: std::string ParentName() const;
83
86 public: void Update(const bool _force);
87
90 public: double UpdateRate() const;
91
94 public: void SetUpdateRate(const double _hz);
95
97 public: virtual void Fini();
98
101 public: std::string Name() const;
102
105 public: std::string ScopedName() const;
106
110 public: virtual ignition::math::Pose3d Pose() const;
111
115 public: virtual void SetPose(const ignition::math::Pose3d &_pose);
116
119 public: virtual void SetActive(const bool _value);
120
123 public: virtual bool IsActive() const;
124
127 public: std::string Type() const;
128
132
136
140 public: bool Visualize() const;
141
144 public: virtual std::string Topic() const;
145
148 public: void FillMsg(msgs::Sensor &_msg);
149
152 public: std::string WorldName() const;
153
160 std::function<void()> _subscriber);
161
165 public: SensorCategory Category() const;
166
168 public: void ResetLastUpdateTime();
169
172 public: uint32_t Id() const;
173
176 public: uint32_t ParentId() const;
177
182 public: NoisePtr Noise(const SensorNoiseType _type) const;
183
190 protected: virtual bool UpdateImpl(const bool /*_force*/) {return false;}
191
194 protected: bool NeedsUpdate();
195
198 private: void LoadPlugin(sdf::ElementPtr _sdf);
199
201 protected: bool active;
202
204 protected: sdf::ElementPtr sdf;
205
207 protected: ignition::math::Pose3d pose;
208
210 protected: std::vector<event::ConnectionPtr> connections;
211
214
216 protected: std::string parentName;
217
219 protected: uint32_t parentId;
220
222 protected: std::vector<SensorPluginPtr> plugins;
223
226
229
233
236
240
242 protected: std::map<SensorNoiseType, NoisePtr> noises;
243
245 protected: ignition::transport::Node nodeIgn;
246
249 private: std::unique_ptr<SensorPrivate> dataPtr;
250 };
252 }
253}
254#endif
default namespace for gazebo
sensors
Definition SensorManager.hh:35
Forward declarations and typedefs for sensors.
Forward declarations for transport.
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
Base class for sensors.
Definition Sensor.hh:53
bool active
True if sensor generation is active.
Definition Sensor.hh:201
Sensor(SensorCategory _cat)
Constructor.
ignition::math::Pose3d pose
Pose of the sensor.
Definition Sensor.hh:207
double UpdateRate() const
Get the update rate of the sensor.
common::Time lastMeasurementTime
Stores last time that a sensor measurement was generated; this value must be updated within each sens...
Definition Sensor.hh:239
std::string ScopedName() const
Get fully scoped name of the sensor.
virtual void Fini()
Finalize the sensor.
std::vector< event::ConnectionPtr > connections
All event connections.
Definition Sensor.hh:210
virtual void Init()
Initialize the sensor.
std::string WorldName() const
Returns the name of the world the sensor is in.
std::string Name() const
Get name.
virtual ignition::math::Pose3d Pose() const
Get the current pose.
virtual ~Sensor()
Destructor.
uint32_t ParentId() const
Get the sensor's parent's ID.
void Update(const bool _force)
Update the sensor.
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.
transport::NodePtr node
Node for communication.
Definition Sensor.hh:213
bool Visualize() const
Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
ignition::transport::Node nodeIgn
Ignition transport node.
Definition Sensor.hh:245
common::Time LastUpdateTime() const
Return last update time.
virtual bool IsActive() const
Returns true if sensor generation is active.
virtual std::string Topic() const
Returns the topic name as set in SDF.
common::Time updatePeriod
Desired time between updates, set indirectly by Sensor::SetUpdateRate.
Definition Sensor.hh:232
void FillMsg(msgs::Sensor &_msg)
fills a msgs::Sensor message.
bool NeedsUpdate()
Return true if the sensor needs to be updated.
virtual void SetPose(const ignition::math::Pose3d &_pose)
Set the current pose.
void SetParent(const std::string &_name, const uint32_t _id)
Set the sensor's parent.
std::string Type() const
Get sensor type.
std::string parentName
Name of the parent.
Definition Sensor.hh:216
std::map< SensorNoiseType, NoisePtr > noises
Noise added to sensor data.
Definition Sensor.hh:242
common::Time LastMeasurementTime() const
Return last measurement time.
virtual void SetActive(const bool _value)
Set whether the sensor is active or not.
sdf::ElementPtr sdf
Pointer the the SDF element for the sensor.
Definition Sensor.hh:204
common::Time lastUpdateTime
Time of the last update.
Definition Sensor.hh:235
uint32_t parentId
The sensor's parent ID.
Definition Sensor.hh:219
void SetUpdateRate(const double _hz)
Set the update rate of the sensor.
std::string ParentName() const
Returns the name of the sensor parent.
gazebo::physics::WorldPtr world
Pointer to the world.
Definition Sensor.hh:225
void ResetLastUpdateTime()
Reset the lastUpdateTime to zero.
gazebo::rendering::ScenePtr scene
Pointer to the Scene.
Definition Sensor.hh:228
SensorCategory Category() const
Get the category of the sensor.
event::ConnectionPtr ConnectUpdated(std::function< void()> _subscriber)
Connect a signal that is triggered when the sensor is updated.
uint32_t Id() const
Get the sensor's ID.
std::vector< SensorPluginPtr > plugins
All the plugins for the sensor.
Definition Sensor.hh:222
NoisePtr Noise(const SensorNoiseType _type) const
Get the sensor's noise model for a specified noise type.
virtual bool UpdateImpl(const bool)
This gets overwritten by derived sensor types.
Definition Sensor.hh:190
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Scene > ScenePtr
Definition RenderTypes.hh:82
SensorCategory
SensorCategory is used to categorize sensors.
Definition SensorTypes.hh:309
std::shared_ptr< Noise > NoisePtr
Definition SensorTypes.hh:124
SensorNoiseType
Definition SensorTypes.hh:209
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27