Base class for sensors.
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#include <sensors/sensors.hh>
Inherits enable_shared_from_this< Sensor >.
Inherited by AltimeterSensor, CameraSensor, ContactSensor, ForceTorqueSensor, GpsSensor, GpuRaySensor, ImuSensor, LogicalCameraSensor, MagnetometerSensor, MultiCameraSensor, RaySensor, RFIDSensor, RFIDTag, SonarSensor, and WirelessTransceiver.
◆ Sensor()
Constructor.
- Parameters
-
[in] | _cat | Category of the sensor |
◆ ~Sensor()
◆ Category()
Get the category of the sensor.
- Returns
- The category of the sensor.
- See also
- SensorCategory
◆ ConnectUpdated()
Connect a signal that is triggered when the sensor is updated.
- Parameters
-
[in] | _subscriber | Callback that receives the signal. |
- Returns
- A pointer to the connection. This must be kept in scope.
- See also
- Sensor::DisconnectUpdated
◆ FillMsg()
void FillMsg |
( |
msgs::Sensor & |
_msg | ) |
|
fills a msgs::Sensor message.
- Parameters
-
[out] | _msg | Message to fill. |
◆ Fini()
Finalize the sensor.
Reimplemented in CameraSensor, MultiCameraSensor, SonarSensor, LogicalCameraSensor, GpuRaySensor, ForceTorqueSensor, ContactSensor, RaySensor, AltimeterSensor, RFIDSensor, MagnetometerSensor, GpsSensor, ImuSensor, RFIDTag, WideAngleCameraSensor, WirelessTransceiver, and WirelessReceiver.
◆ Id()
Get the sensor's ID.
- Returns
- The sensor's ID.
◆ Init()
Initialize the sensor.
Reimplemented in GpuRaySensor, ContactSensor, RaySensor, CameraSensor, ForceTorqueSensor, AltimeterSensor, GpsSensor, LogicalCameraSensor, RFIDSensor, MagnetometerSensor, MultiCameraSensor, WideAngleCameraSensor, ImuSensor, RFIDTag, SonarSensor, WirelessTransmitter, DepthCameraSensor, WirelessTransceiver, and WirelessReceiver.
◆ IsActive()
virtual bool IsActive |
( |
| ) |
const |
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virtual |
◆ LastMeasurementTime()
Return last measurement time.
- Returns
- Time of last measurement.
◆ LastUpdateTime()
Return last update time.
- Returns
- Time of last update.
◆ Load() [1/2]
virtual void Load |
( |
const std::string & |
_worldName, |
|
|
sdf::ElementPtr |
_sdf |
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) |
| |
|
virtual |
Load the sensor with SDF parameters.
- Parameters
-
[in] | _sdf | SDF Sensor parameters. |
[in] | _worldName | Name of world to load from. |
Reimplemented in GpuRaySensor, ContactSensor, CameraSensor, ForceTorqueSensor, AltimeterSensor, GpsSensor, LogicalCameraSensor, RFIDSensor, ImuSensor, MagnetometerSensor, and RFIDTag.
◆ Load() [2/2]
virtual void Load |
( |
const std::string & |
_worldName | ) |
|
|
virtual |
Load the sensor with default parameters.
- Parameters
-
[in] | _worldName | Name of world to load from. |
Reimplemented in GpuRaySensor, DepthCameraSensor, ContactSensor, RaySensor, CameraSensor, ForceTorqueSensor, AltimeterSensor, GpsSensor, LogicalCameraSensor, RFIDSensor, MagnetometerSensor, MultiCameraSensor, WideAngleCameraSensor, ImuSensor, RFIDTag, SonarSensor, WirelessTransmitter, WirelessTransceiver, and WirelessReceiver.
◆ Name()
std::string Name |
( |
| ) |
const |
Get name.
- Returns
- Name of sensor.
◆ NeedsUpdate()
virtual bool NeedsUpdate |
( |
| ) |
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protectedvirtual |
◆ NextRequiredTimestamp()
virtual double NextRequiredTimestamp |
( |
| ) |
const |
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virtual |
Get the next timestamp that will be used by the sensor.
- Returns
- the timestamp
Reimplemented in GpuRaySensor, and CameraSensor.
◆ Noise()
Get the sensor's noise model for a specified noise type.
- Parameters
-
[in] | _type | Index of the noise type. Refer to SensorNoiseType enumeration for possible indices |
- Returns
- The sensor's noise model for the given noise type
◆ ParentId()
uint32_t ParentId |
( |
| ) |
const |
Get the sensor's parent's ID.
- Returns
- The sensor's parent's ID.
◆ ParentName()
std::string ParentName |
( |
| ) |
const |
Returns the name of the sensor parent.
The parent name is set by Sensor::SetParent.
- Returns
- Name of Parent.
◆ Pose()
virtual ignition::math::Pose3d Pose |
( |
| ) |
const |
|
virtual |
Get the current pose.
- Returns
- Current pose of the sensor.
- See also
- SetPose()
◆ ResetLastUpdateTime()
virtual void ResetLastUpdateTime |
( |
| ) |
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virtual |
◆ ScopedName()
std::string ScopedName |
( |
| ) |
const |
Get fully scoped name of the sensor.
- Returns
- world_name::model_name::link_name::sensor_name.
◆ SetActive()
virtual void SetActive |
( |
const bool |
_value | ) |
|
|
virtual |
Set whether the sensor is active or not.
- Parameters
-
[in] | _value | True if active, false if not. |
Reimplemented in GpuRaySensor, and CameraSensor.
◆ SetParent()
void SetParent |
( |
const std::string & |
_name, |
|
|
const uint32_t |
_id |
|
) |
| |
Set the sensor's parent.
- Parameters
-
[in] | _name | The sensor's parent's name. |
[in] | _id | The sensor's parent's ID. |
◆ SetPose()
virtual void SetPose |
( |
const ignition::math::Pose3d & |
_pose | ) |
|
|
virtual |
Set the current pose.
- Parameters
-
[in] | _pose | New pose of the sensor. |
- See also
- Pose()
◆ SetUpdateRate()
void SetUpdateRate |
( |
const double |
_hz | ) |
|
Set the update rate of the sensor.
- Parameters
-
[in] | _hz | update rate of sensor. |
◆ Topic()
virtual std::string Topic |
( |
| ) |
const |
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virtual |
◆ Type()
std::string Type |
( |
| ) |
const |
Get sensor type.
- Returns
- Type of sensor.
◆ Update()
virtual void Update |
( |
const bool |
_force | ) |
|
|
virtual |
Update the sensor.
- Parameters
-
[in] | _force | True to force update, false otherwise. |
Reimplemented in GpuRaySensor, and CameraSensor.
◆ UpdateImpl()
virtual bool UpdateImpl |
( |
const bool |
| ) |
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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 |
- Returns
- True if the sensor was updated.
Reimplemented in CameraSensor, MultiCameraSensor, SonarSensor, LogicalCameraSensor, GpuRaySensor, ForceTorqueSensor, WirelessReceiver, ContactSensor, DepthCameraSensor, RaySensor, AltimeterSensor, RFIDSensor, MagnetometerSensor, WideAngleCameraSensor, GpsSensor, ImuSensor, RFIDTag, and WirelessTransmitter.
References Sensor::NeedsUpdate().
◆ UpdateRate()
double UpdateRate |
( |
| ) |
const |
Get the update rate of the sensor.
- Returns
- _hz update rate of sensor. Returns 0 if unthrottled.
◆ Visualize()
Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
- Returns
- True if visualized, false if not.
◆ WorldName()
std::string WorldName |
( |
| ) |
const |
Returns the name of the world the sensor is in.
- Returns
- Name of the world.
◆ active
True if sensor generation is active.
◆ connections
◆ lastMeasurementTime
Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.
◆ lastUpdateTime
◆ node
◆ nodeIgn
ignition::transport::Node nodeIgn |
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protected |
◆ noises
Noise added to sensor data.
◆ parentId
◆ parentName
◆ plugins
All the plugins for the sensor.
◆ pose
ignition::math::Pose3d pose |
|
protected |
◆ scene
◆ sdf
Pointer the the SDF element for the sensor.
◆ updated
Event triggered when a sensor is updated.
◆ updatePeriod
◆ world
The documentation for this class was generated from the following file: