#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::RaySensor:

Public Member Functions
	RaySensor ()
	Constructor.

virtual	~RaySensor ()
	Destructor.

math::Angle	GetAngleMax () const
	Get the maximum angle.

math::Angle	GetAngleMin () const
	Get the minimum angle.

double	GetAngleResolution () const
	Get radians between each range.

int	GetFiducial (int _index)
	Get detected fiducial value for a ray.

physics::MultiRayShapePtr	GetLaserShape () const
	Returns a pointer to the internal physics::MultiRayShape.

double	GetRange (int _index)
	Get detected range for a ray.

int	GetRangeCount () const
	Get the range count.

double	GetRangeMax () const
	Get the maximum range.

double	GetRangeMin () const
	Get the minimum range.

double	GetRangeResolution () const
	Get the range resolution.

void	GetRanges (std::vector< double > &_ranges)
	Get all the ranges.

int	GetRayCount () const
	Get the ray count.

double	GetRetro (int _index)
	Get detected retro (intensity) value for a ray.

virtual std::string	GetTopic () const
	Gets the topic name of the sensor.

math::Angle	GetVerticalAngleMax () const
	Get the vertical scan line top angle.

math::Angle	GetVerticalAngleMin () const
	Get the vertical scan bottom angle.

int	GetVerticalRangeCount () const
	Get the vertical scan line count.

int	GetVerticalRayCount () const
	Get the vertical scan line count.

virtual void	Init ()
	Initialize the ray.

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.

Public Member Functions inherited from gazebo::sensors::Sensor
	Sensor ()
	Constructor.

virtual	~Sensor ()
	Destructor.

void	FillMsg (msgs::Sensor &_msg)
	fills a msgs::Sensor message.

common::Time	GetLastUpdateTime ()
	return last update time

std::string	GetName () const
	Get name.

std::string	GetParentName () const
	Returns the name of the sensor parent.

virtual math::Pose	GetPose () const
	Get the current pose.

std::string	GetScopedName () const
	Get fully scoped name of the sensor.

std::string	GetType () const
	Get sensor type.

bool	GetVisualize () const
	return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF

std::string	GetWorldName () const
	Returns the name of the world the sensor is in.

bool	IsActive ()
	Returns true if sensor generation is active.

virtual void	SetActive (bool _value)
	Set whether the sensor is active or not.

virtual void	SetParent (const std::string &_name)
	Set the parent of the sensor.

void	SetUpdateRate (double _hz)
	Set the update rate of the sensor.

void	Update (bool _force)
	Update the sensor.

Protected Member Functions
virtual void	Fini ()
	Finalize the ray.

virtual void	UpdateImpl (bool _force)
	Update the sensor information.

Additional Inherited Members
Protected Attributes inherited from gazebo::sensors::Sensor
bool	active
	True if active.

std::vector< event::ConnectionPtr >	connections

common::Time	lastUpdateTime

transport::NodePtr	node

std::string	parentName

std::vector< SensorPluginPtr >	plugins

math::Pose	pose

transport::SubscriberPtr	poseSub

sdf::ElementPtr	sdf

common::Time	updatePeriod

gazebo::physics::WorldPtr	world

Constructor & Destructor Documentation

gazebo::sensors::RaySensor::RaySensor ( )

Constructor.

virtual gazebo::sensors::RaySensor::~RaySensor ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::sensors::RaySensor::Fini ( )

protectedvirtual

Finalize the ray.

Reimplemented from gazebo::sensors::Sensor.

math::Angle gazebo::sensors::RaySensor::GetAngleMax ( ) const

Get the maximum angle.

Returns: the maximum angle

math::Angle gazebo::sensors::RaySensor::GetAngleMin ( ) const

Get the minimum angle.

Returns: The minimum angle

double gazebo::sensors::RaySensor::GetAngleResolution ( ) const

Get radians between each range.

Returns: Resolution of the angle

int gazebo::sensors::RaySensor::GetFiducial ( int _index )

Get detected fiducial value for a ray.

    Warning: If you are accessing all the ray data in a loop
    it's possible that the Ray will update in the middle of
    your access loop. This means some data will come from one
    scan, and some from another scan. You can solve this
    problem by using SetActive(false) <your accessor loop>
    SetActive(true).

Parameters

[in] _index Index value of specific ray

Returns: Fiducial value

physics::MultiRayShapePtr gazebo::sensors::RaySensor::GetLaserShape ( ) const

inline

Returns a pointer to the internal physics::MultiRayShape.

Returns: Pointer to ray shape

double gazebo::sensors::RaySensor::GetRange ( int _index )

Get detected range for a ray.

    Warning: If you are accessing all the ray data in a loop
    it's possible that the Ray will update in the middle of
    your access loop. This means some data will come from one
    scan, and some from another scan. You can solve this
    problem by using SetActive(false) <your accessor loop>
    SetActive(true).

Parameters

[in] _index Index of specific ray

Returns: Returns DBL_MAX for no detection.

int gazebo::sensors::RaySensor::GetRangeCount ( ) const

Get the range count.

Returns: The number of ranges

double gazebo::sensors::RaySensor::GetRangeMax ( ) const

Get the maximum range.

Returns: The maximum range

double gazebo::sensors::RaySensor::GetRangeMin ( ) const

Get the minimum range.

Returns: The minimum range

double gazebo::sensors::RaySensor::GetRangeResolution ( ) const

Get the range resolution.

Returns: Resolution of the range

void gazebo::sensors::RaySensor::GetRanges ( std::vector< double > & _ranges )

Get all the ranges.

Parameters

_ranges A vector that will contain all the range data

int gazebo::sensors::RaySensor::GetRayCount ( ) const

Get the ray count.

Returns: The number of rays

double gazebo::sensors::RaySensor::GetRetro ( int _index )

Get detected retro (intensity) value for a ray.

    Warning: If you are accessing all the ray data in a loop
    it's possible that the Ray will update in the middle of
    your access loop. This means some data will come from one
    scan, and some from another scan. You can solve this
    problem by using SetActive(false) <your accessor loop>
    SetActive(true).

Parameters

[in] _index Index of specific ray

Returns: Retro (intensity) value for ray

virtual std::string gazebo::sensors::RaySensor::GetTopic ( ) const

virtual

Gets the topic name of the sensor.

Returns: Topic name

Reimplemented from gazebo::sensors::Sensor.

math::Angle gazebo::sensors::RaySensor::GetVerticalAngleMax ( ) const

Get the vertical scan line top angle.

Returns: The Maximum angle of the scan block

math::Angle gazebo::sensors::RaySensor::GetVerticalAngleMin ( ) const

Get the vertical scan bottom angle.

Returns: The minimum angle of the scan block

int gazebo::sensors::RaySensor::GetVerticalRangeCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

int gazebo::sensors::RaySensor::GetVerticalRayCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

virtual void gazebo::sensors::RaySensor::Init ( )

virtual

Initialize the ray.

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::RaySensor::Load	(	const std::string &	_worldName,
		sdf::ElementPtr	_sdf
	)

virtual

Load the sensor with SDF parameters.

Parameters

[in]	_sdf	SDF Sensor parameters
[in]	_worldName	Name of world to load from

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::RaySensor::Load ( const std::string & _worldName )

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::RaySensor::UpdateImpl ( bool _force )

protectedvirtual

Update the sensor information.

Reimplemented from gazebo::sensors::Sensor.

The documentation for this class was generated from the following file:

RaySensor.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation