Sensor.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GAZEBO_SENSORS_SENSOR_HH_
#define GAZEBO_SENSORS_SENSOR_HH_

#include <vector>
#include <memory>
#include <map>
#include <string>

#include <sdf/sdf.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/transport/Node.hh>

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/sensors/SensorTypes.hh"

#include "gazebo/msgs/msgs.hh"
#include "gazebo/common/Events.hh"
#include "gazebo/common/Time.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {
    // Forward declare private data
    class SensorPrivate;


    class GZ_SENSORS_VISIBLE Sensor
    : public std::enable_shared_from_this<Sensor>
    {
      public: explicit Sensor(SensorCategory _cat);

      public: virtual ~Sensor();

      public: virtual void Load(const std::string &_worldName,
                                sdf::ElementPtr _sdf);

      public: virtual void Load(const std::string &_worldName);

      public: virtual void Init();

      public: void SetParent(const std::string &_name, const uint32_t _id);

      public: std::string ParentName() const;

      public: virtual void Update(const bool _force);

      public: double UpdateRate() const;

      public: void SetUpdateRate(const double _hz);

      public: virtual void Fini();

      public: std::string Name() const;

      public: std::string ScopedName() const;

      public: virtual ignition::math::Pose3d Pose() const;

      public: virtual void SetPose(const ignition::math::Pose3d &_pose);

      public: virtual void SetActive(const bool _value);

      public: virtual bool IsActive() const;

      public: std::string Type() const;

      public: common::Time LastUpdateTime() const;

      public: common::Time LastMeasurementTime() const;

      public: bool Visualize() const;

      public: virtual std::string Topic() const;

      public: void FillMsg(msgs::Sensor &_msg);

      public: std::string WorldName() const;

      public: event::ConnectionPtr ConnectUpdated(
                  std::function<void()> _subscriber);

      public: SensorCategory Category() const;

      public: virtual void ResetLastUpdateTime();

      public: uint32_t Id() const;

      public: uint32_t ParentId() const;

      public: NoisePtr Noise(const SensorNoiseType _type) const;

      public: virtual double NextRequiredTimestamp() const;

      protected: virtual bool UpdateImpl(const bool /*_force*/) {return false;}

      protected: virtual bool NeedsUpdate();

      private: void LoadPlugin(sdf::ElementPtr _sdf);

      protected: bool active;

      protected: sdf::ElementPtr sdf;

      protected: ignition::math::Pose3d pose;

      protected: std::vector<event::ConnectionPtr> connections;

      protected: transport::NodePtr node;

      protected: std::string parentName;

      protected: uint32_t parentId;

      protected: std::vector<SensorPluginPtr> plugins;

      protected: gazebo::physics::WorldPtr world;

      protected: gazebo::rendering::ScenePtr scene;

      protected: common::Time updatePeriod;

      protected: common::Time lastUpdateTime;

      protected: common::Time lastMeasurementTime;

      protected: std::map<SensorNoiseType, NoisePtr> noises;

      protected: event::EventT<void()> updated;

      protected: ignition::transport::Node nodeIgn;

      private: std::unique_ptr<SensorPrivate> dataPtr;
    };
  }
}
#endif