SensorManager Class Reference

Class to manage and update all sensors. More...

#include <sensors/sensors.hh>

Inherits SingletonT< SensorManager >.

Public Member Functions
std::string	CreateSensor (sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
	Add a sensor from an SDF element. More...
void	Fini ()
	Finalize all the sensors. More...
SensorPtr	GetSensor (const std::string &_name) const
	Get a sensor. More...
Sensor_V	GetSensors () const
	Get all the sensors. More...
void	GetSensorTypes (std::vector< std::string > &_types) const
	Get all the sensor types. More...
void	Init ()
	Init all the sensors. More...
void	OnCreateSensor (sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, const uint32_t _parentId)
	Add a sensor from an SDF element. More...
void	RemoveSensor (const std::string &_name)
	Remove a sensor. More...
void	RemoveSensors ()
	Remove all sensors. More...
void	ResetLastUpdateTimes ()
	Reset last update times in all sensors. More...
bool	Running () const
	Get whether there's at least one sensor container running. More...
void	RunThreads ()
	Run sensor updates in separate threads. More...
bool	SensorsInitialized ()
	True if SensorManager::initSensors queue is empty i.e. More...
void	Stop ()
	Stop the run thread. More...
void	Update (bool _force=false)
	Update all the sensors. More...

Static Public Member Functions
static SensorManager *	Instance ()
	Get an instance of the singleton. More...

Detailed Description

Class to manage and update all sensors.

Member Function Documentation

CreateSensor()

std::string CreateSensor	(	sdf::ElementPtr	_elem,
		const std::string &	_worldName,
		const std::string &	_parentName,
		uint32_t	_parentId
	)

Add a sensor from an SDF element.

This function will also Load and Init the sensor.

Parameters

[in]	_elem	The SDF element that describes the sensor
[in]	_worldName	Name of the world in which to create the sensor
[in]	_parentName	The name of the parent link which the sensor is attached to.

Returns

The name of the sensor

Fini()

void Fini

(

)

Finalize all the sensors.

GetSensor()

SensorPtr GetSensor

(

const std::string &

_name

)

const

Get a sensor.

Parameters

[in]

_name

The name of a sensor to find.

Returns

A pointer to the sensor. nullptr if not found.

GetSensors()

Sensor_V GetSensors

(

)

const

Get all the sensors.

Returns

Vector of all the sensors.

GetSensorTypes()

void GetSensorTypes

(

std::vector< std::string > &

_types

)

const

Get all the sensor types.

Parameters

[out]

All

the sensor types.

Init()

void Init

(

)

Init all the sensors.

Instance()

static SensorManager * Instance ( )

inlinestaticinherited

Get an instance of the singleton.

OnCreateSensor()

void OnCreateSensor	(	sdf::ElementPtr	_elem,
		const std::string &	_worldName,
		const std::string &	_parentName,
		const uint32_t	_parentId
	)

Add a sensor from an SDF element.

This function will also Load and Init the sensor.

Parameters

[in]	_elem	The SDF element that describes the sensor
[in]	_worldName	Name of the world in which to create the sensor
[in]	_parentName	The name of the parent link which the sensor is attached to.
[in]	_parentId	Unique id of the sensor to create.

RemoveSensor()

void RemoveSensor

(

const std::string &

_name

)

Remove a sensor.

Parameters

[in]

_name

The name of the sensor to remove.

RemoveSensors()

void RemoveSensors

(

)

Remove all sensors.

ResetLastUpdateTimes()

void ResetLastUpdateTimes

(

)

Reset last update times in all sensors.

Running()

bool Running

(

)

const

Get whether there's at least one sensor container running.

Returns

True if running.

RunThreads()

void RunThreads

(

)

Run sensor updates in separate threads.

This will only run non-image based sensor updates.

SensorsInitialized()

bool SensorsInitialized

(

)

True if SensorManager::initSensors queue is empty i.e.

all sensors managed by SensorManager have been initialized

Stop()

void Stop

(

)

Stop the run thread.

Update()

void Update

(

bool

_force = false

)

Update all the sensors.

Checks to see if any sensor need to be initialized first, then updates all sensors once.

Parameters

[in]

_force

True force update, false if not

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

• SensorManager.hh