#include <Sensor.hh>

Inheritance diagram for gazebo::sensors::Sensor:

Public Member Functions
	Sensor ()
	Constructor.

virtual	~Sensor ()
	Destructor.

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

virtual void	Fini ()
	Finalize the sensor.

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.

virtual std::string	GetTopic () const
	Returns the topic name as set in SDF.

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.

virtual void	Init ()
	Initialize the sensor.

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

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.

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	UpdateImpl (bool)
	This gets overwritten by derived sensor types.

Protected Attributes
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::Sensor::Sensor ( )

Constructor.

virtual gazebo::sensors::Sensor::~Sensor ( )

virtual

Destructor.

Member Function Documentation

void gazebo::sensors::Sensor::FillMsg ( msgs::Sensor & _msg )

fills a msgs::Sensor message.

Parameters

_msg	Message to fill

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

virtual

Finalize the sensor.

Reimplemented in gazebo::sensors::CameraSensor, gazebo::sensors::RaySensor, gazebo::sensors::ContactSensor, gazebo::sensors::GpuRaySensor, gazebo::sensors::DepthCameraSensor, gazebo::sensors::RFIDSensor, and gazebo::sensors::RFIDTag.

common::Time gazebo::sensors::Sensor::GetLastUpdateTime ( )

return last update time

Returns: Time of last update

std::string gazebo::sensors::Sensor::GetName ( ) const

Get name.

Returns: name of sensor

std::string gazebo::sensors::Sensor::GetParentName ( ) const

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent

virtual math::Pose gazebo::sensors::Sensor::GetPose ( ) const

virtual

Get the current pose.

Returns: Current pose of the sensor

std::string gazebo::sensors::Sensor::GetScopedName ( ) const

Get fully scoped name of the sensor.

Returns: world_name::parent_name::sensor_name

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

virtual

Returns the topic name as set in SDF.

Returns: Topic name

Reimplemented in gazebo::sensors::RaySensor, and gazebo::sensors::CameraSensor.

std::string gazebo::sensors::Sensor::GetType ( ) const

Get sensor type.

Returns: Type of sensor

bool gazebo::sensors::Sensor::GetVisualize ( ) const

return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF

Returns: True if visualized, false if not

std::string gazebo::sensors::Sensor::GetWorldName ( ) const

Returns the name of the world the sensor is in.

Returns: Name of the world

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

virtual

Initialize the sensor.

Reimplemented in gazebo::sensors::RaySensor, gazebo::sensors::ContactSensor, gazebo::sensors::CameraSensor, gazebo::sensors::GpuRaySensor, gazebo::sensors::DepthCameraSensor, gazebo::sensors::RFIDSensor, and gazebo::sensors::RFIDTag.

bool gazebo::sensors::Sensor::IsActive ( )

Returns true if sensor generation is active.

Returns: True if active, false if not

virtual void gazebo::sensors::Sensor::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 in gazebo::sensors::RaySensor, gazebo::sensors::ContactSensor, gazebo::sensors::CameraSensor, and gazebo::sensors::RFIDSensor.

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

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from

Reimplemented in gazebo::sensors::RaySensor, gazebo::sensors::ContactSensor, gazebo::sensors::CameraSensor, gazebo::sensors::GpuRaySensor, gazebo::sensors::DepthCameraSensor, gazebo::sensors::RFIDSensor, and gazebo::sensors::RFIDTag.

virtual void gazebo::sensors::Sensor::SetActive ( bool _value )

virtual

Set whether the sensor is active or not.

Parameters

[in] value True if active, false if not

Reimplemented in gazebo::sensors::CameraSensor, and gazebo::sensors::DepthCameraSensor.

virtual void gazebo::sensors::Sensor::SetParent ( const std::string & _name )

virtual

Set the parent of the sensor.

Reimplemented in gazebo::sensors::CameraSensor, and gazebo::sensors::DepthCameraSensor.

void gazebo::sensors::Sensor::SetUpdateRate ( double _hz )

Set the update rate of the sensor.

Parameters

[in] _hz update rate of sensor

void gazebo::sensors::Sensor::Update ( bool _force )

Update the sensor.

Parameters

[in] _force True to force update, false otherwise

virtual void gazebo::sensors::Sensor::UpdateImpl ( bool )

inlineprotectedvirtual

This gets overwritten by derived sensor types.

    This function is called during Sensor::Update.
    And in turn, Sensor::Update is called by
    SensorManager::Update

Parameters

[in] _force True if update is forced, false if not

Reimplemented in gazebo::sensors::CameraSensor, gazebo::sensors::RaySensor, gazebo::sensors::ContactSensor, gazebo::sensors::GpuRaySensor, gazebo::sensors::DepthCameraSensor, gazebo::sensors::RFIDSensor, and gazebo::sensors::RFIDTag.

Member Data Documentation

bool gazebo::sensors::Sensor::active

protected

True if active.

std::vector<event::ConnectionPtr> gazebo::sensors::Sensor::connections

protected

common::Time gazebo::sensors::Sensor::lastUpdateTime

protected

transport::NodePtr gazebo::sensors::Sensor::node

protected

std::string gazebo::sensors::Sensor::parentName

protected

std::vector<SensorPluginPtr> gazebo::sensors::Sensor::plugins

protected

math::Pose gazebo::sensors::Sensor::pose

protected

transport::SubscriberPtr gazebo::sensors::Sensor::poseSub

protected

sdf::ElementPtr gazebo::sensors::Sensor::sdf

protected

common::Time gazebo::sensors::Sensor::updatePeriod

protected

gazebo::physics::WorldPtr gazebo::sensors::Sensor::world

protected

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

Sensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation