#include <sensors/sensors.hh>
Public Member Functions | |
ContactSensor () | |
Constructor. | |
virtual | ~ContactSensor () |
Destructor. | |
physics::Contact | GetCollisionContact (const std::string &_collisionName, unsigned int _index) const |
Get a contact for a collision by index. | |
unsigned int | GetCollisionContactCount (const std::string &_collisionName) const |
Return the number of contacts for an observed collision. | |
unsigned int | GetCollisionCount () const |
Get the number of collisions that the sensor is observing. | |
std::string | GetCollisionName (unsigned int _index) const |
Get a collision name at index _index. | |
std::map< std::string, physics::Contact > | GetContacts (const std::string &_collisionName) |
Gets contacts of a collision. | |
boost::mutex * | GetUpdateMutex () const |
returns a pointer to the mutex for locking while reading internally kept map of map of collision names and contacts | |
virtual void | Init () |
Initialize 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. | |
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 | GetLastMeasurementTime () |
Return last measurement time. | |
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. | |
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 sensor. | |
virtual void | UpdateImpl (bool _force) |
Update the sensor information. | |
Additional Inherited Members | |
Protected Attributes inherited from gazebo::sensors::Sensor | |
bool | active |
True if sensor generation is active. | |
std::vector< event::ConnectionPtr > | connections |
All event connections. | |
common::Time | lastMeasurementTime |
Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl. | |
common::Time | lastUpdateTime |
Time of the last update. | |
transport::NodePtr | node |
Node for communication. | |
std::string | parentName |
Name of the parent. | |
std::vector< SensorPluginPtr > | plugins |
All the plugins for the sensor. | |
math::Pose | pose |
Pose of the sensor. | |
transport::SubscriberPtr | poseSub |
Subscribe to pose updates. | |
sdf::ElementPtr | sdf |
Pointer the the SDF element for the sensor. | |
common::Time | updatePeriod |
Desired time between updates, set indirectly by Sensor::SetUpdateRate. | |
gazebo::physics::WorldPtr | world |
Pointer to the world. | |
gazebo::sensors::ContactSensor::ContactSensor | ( | ) |
Constructor.
body | The underlying collision test uses an ODE collision, so ray sensors must be attached to a body. |
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virtual |
Destructor.
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protectedvirtual |
Finalize the sensor.
Reimplemented from gazebo::sensors::Sensor.
physics::Contact gazebo::sensors::ContactSensor::GetCollisionContact | ( | const std::string & | _collisionName, |
unsigned int | _index | ||
) | const |
Get a contact for a collision by index.
[in] | _collisionName | Name of collision contact |
[in] | _index | Index of collision to get |
unsigned int gazebo::sensors::ContactSensor::GetCollisionContactCount | ( | const std::string & | _collisionName | ) | const |
Return the number of contacts for an observed collision.
[in] | _collisionName | The name of the observed collision |
unsigned int gazebo::sensors::ContactSensor::GetCollisionCount | ( | ) | const |
Get the number of collisions that the sensor is observing.
std::string gazebo::sensors::ContactSensor::GetCollisionName | ( | unsigned int | _index | ) | const |
Get a collision name at index _index.
[in] | _index | Index of collision in collection of collisions |
std::map<std::string, physics::Contact> gazebo::sensors::ContactSensor::GetContacts | ( | const std::string & | _collisionName | ) |
Gets contacts of a collision.
[in] | _collisionName | Name of collision |
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inline |
returns a pointer to the mutex for locking while reading internally kept map of map of collision names and contacts
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virtual |
Initialize the sensor.
Reimplemented from gazebo::sensors::Sensor.
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virtual |
Load the sensor with SDF parameters.
[in] | _sdf | SDF Sensor parameters |
[in] | _worldName | Name of world to load from |
Reimplemented from gazebo::sensors::Sensor.
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virtual |
Load the sensor with default parameters.
[in] | _worldName | Name of world to load from |
Reimplemented from gazebo::sensors::Sensor.
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protectedvirtual |
Update the sensor information.
[in] | _force | True if update is forced, false if not |
Reimplemented from gazebo::sensors::Sensor.