Sensor with sonar cone. More...
#include <sensors/sensors.hh>
Inherits Sensor.
Public Member Functions | |
SonarSensor () | |
Constructor. More... | |
virtual | ~SonarSensor () |
Destructor. More... | |
SensorCategory | Category () const |
Get the category of the sensor. More... | |
event::ConnectionPtr | ConnectUpdate (std::function< void(msgs::SonarStamped)> _subscriber) |
Connect a to the new update signal. More... | |
event::ConnectionPtr | ConnectUpdated (std::function< void()> _subscriber) |
Connect a signal that is triggered when the sensor is updated. More... | |
void | FillMsg (msgs::Sensor &_msg) |
fills a msgs::Sensor message. More... | |
std::string | Geometry () const |
Get the sonar collision shape. More... | |
uint32_t | Id () const |
Get the sensor's ID. More... | |
virtual void | Init () |
Initialize the sensor. More... | |
virtual bool | IsActive () const |
Returns true if sensor generation is active. More... | |
common::Time | LastMeasurementTime () const |
Return last measurement time. More... | |
common::Time | LastUpdateTime () const |
Return last update time. More... | |
virtual void | Load (const std::string &_worldName) |
Load the sensor with default parameters. More... | |
virtual void | Load (const std::string &_worldName, sdf::ElementPtr _sdf) |
Load the sensor with SDF parameters. More... | |
std::string | Name () const |
Get name. More... | |
virtual double | NextRequiredTimestamp () const |
Get the next timestamp that will be used by the sensor. More... | |
NoisePtr | Noise (const SensorNoiseType _type) const |
Get the sensor's noise model for a specified noise type. More... | |
uint32_t | ParentId () const |
Get the sensor's parent's ID. More... | |
std::string | ParentName () const |
Returns the name of the sensor parent. More... | |
virtual ignition::math::Pose3d | Pose () const |
Get the current pose. More... | |
double | Radius () const |
Get the radius of the sonar cone at maximum range. More... | |
double | Range () |
Get detected range for a sonar. More... | |
double | RangeMax () const |
Get the minimum range of the sonar. More... | |
double | RangeMin () const |
Get the minimum range of the sonar. More... | |
virtual void | ResetLastUpdateTime () |
Reset the lastUpdateTime to zero. More... | |
std::string | ScopedName () const |
Get fully scoped name of the sensor. More... | |
virtual void | SetActive (const bool _value) |
Set whether the sensor is active or not. More... | |
void | SetParent (const std::string &_name, const uint32_t _id) |
Set the sensor's parent. More... | |
virtual void | SetPose (const ignition::math::Pose3d &_pose) |
Set the current pose. More... | |
void | SetUpdateRate (const double _hz) |
Set the update rate of the sensor. More... | |
virtual std::string | Topic () const |
Returns the topic name as set in SDF. More... | |
std::string | Type () const |
Get sensor type. More... | |
virtual void | Update (const bool _force) |
Update the sensor. More... | |
double | UpdateRate () const |
Get the update rate of the sensor. More... | |
bool | Visualize () const |
Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More... | |
std::string | WorldName () const |
Returns the name of the world the sensor is in. More... | |
Protected Member Functions | |
virtual void | Fini () |
Finalize the sensor. More... | |
virtual bool | NeedsUpdate () |
Return true if the sensor needs to be updated. More... | |
virtual bool | UpdateImpl (const bool _force) |
This gets overwritten by derived sensor types. More... | |
Protected Attributes | |
bool | active |
True if sensor generation is active. More... | |
std::vector< event::ConnectionPtr > | connections |
All event connections. More... | |
common::Time | lastMeasurementTime |
Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl. More... | |
common::Time | lastUpdateTime |
Time of the last update. More... | |
transport::NodePtr | node |
Node for communication. More... | |
ignition::transport::Node | nodeIgn |
Ignition transport node. More... | |
std::map< SensorNoiseType, NoisePtr > | noises |
Noise added to sensor data. More... | |
uint32_t | parentId |
The sensor's parent ID. More... | |
std::string | parentName |
Name of the parent. More... | |
std::vector< SensorPluginPtr > | plugins |
All the plugins for the sensor. More... | |
ignition::math::Pose3d | pose |
Pose of the sensor. More... | |
gazebo::rendering::ScenePtr | scene |
Pointer to the Scene. More... | |
sdf::ElementPtr | sdf |
Pointer the the SDF element for the sensor. More... | |
event::EventT< void()> | updated |
Event triggered when a sensor is updated. More... | |
common::Time | updatePeriod |
Desired time between updates, set indirectly by Sensor::SetUpdateRate. More... | |
gazebo::physics::WorldPtr | world |
Pointer to the world. More... | |
Sensor with sonar cone.
This sensor uses a cone .
SonarSensor | ( | ) |
Constructor.
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virtual |
Destructor.
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inherited |
event::ConnectionPtr ConnectUpdate | ( | std::function< void(msgs::SonarStamped)> | _subscriber | ) |
Connect a to the new update signal.
[in] | _subscriber | Callback function. |
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inherited |
Connect a signal that is triggered when the sensor is updated.
[in] | _subscriber | Callback that receives the signal. |
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inherited |
fills a msgs::Sensor message.
[out] | _msg | Message to fill. |
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protectedvirtual |
Finalize the sensor.
Reimplemented from Sensor.
std::string Geometry | ( | ) | const |
Get the sonar collision shape.
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inherited |
Get the sensor's ID.
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Initialize the sensor.
Reimplemented from Sensor.
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Returns true if sensor generation is active.
Reimplemented from Sensor.
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inherited |
Return last measurement time.
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inherited |
Return last update time.
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virtual |
Load the sensor with default parameters.
[in] | _worldName | Name of world to load from. |
Reimplemented from Sensor.
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virtualinherited |
Load the sensor with SDF 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.
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inherited |
Get name.
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protectedvirtualinherited |
Return true if the sensor needs to be updated.
Reimplemented in GpuRaySensor, and CameraSensor.
Referenced by Sensor::UpdateImpl().
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virtualinherited |
Get the next timestamp that will be used by the sensor.
Reimplemented in GpuRaySensor, and CameraSensor.
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inherited |
Get the sensor's noise model for a specified noise type.
[in] | _type | Index of the noise type. Refer to SensorNoiseType enumeration for possible indices |
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Get the sensor's parent's ID.
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Returns the name of the sensor parent.
The parent name is set by Sensor::SetParent.
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virtualinherited |
double Radius | ( | ) | const |
Get the radius of the sonar cone at maximum range.
double Range | ( | ) |
Get detected range for a sonar.
Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).
double RangeMax | ( | ) | const |
Get the minimum range of the sonar.
double RangeMin | ( | ) | const |
Get the minimum range of the sonar.
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virtualinherited |
Reset the lastUpdateTime to zero.
Reimplemented in GpuRaySensor, and CameraSensor.
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inherited |
Get fully scoped name of the sensor.
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virtualinherited |
Set whether the sensor is active or not.
[in] | _value | True if active, false if not. |
Reimplemented in GpuRaySensor, and CameraSensor.
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Set the sensor's parent.
[in] | _name | The sensor's parent's name. |
[in] | _id | The sensor's parent's ID. |
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virtualinherited |
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Set the update rate of the sensor.
[in] | _hz | update rate of sensor. |
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virtual |
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Get sensor type.
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virtualinherited |
Update the sensor.
[in] | _force | True to force update, false otherwise. |
Reimplemented in GpuRaySensor, and CameraSensor.
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protectedvirtual |
This gets overwritten by derived sensor types.
This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update
[in] | _force | True if update is forced, false if not |
Reimplemented from Sensor.
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inherited |
Get the update rate of the sensor.
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Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
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Returns the name of the world the sensor is in.
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protectedinherited |
True if sensor generation is active.
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protectedinherited |
All event connections.
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protectedinherited |
Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.
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protectedinherited |
Time of the last update.
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protectedinherited |
Node for communication.
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protectedinherited |
Ignition transport node.
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protectedinherited |
Noise added to sensor data.
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protectedinherited |
The sensor's parent ID.
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protectedinherited |
Name of the parent.
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protectedinherited |
All the plugins for the sensor.
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protectedinherited |
Pose of the sensor.
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protectedinherited |
Pointer to the Scene.
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protectedinherited |
Pointer the the SDF element for the sensor.
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protectedinherited |
Event triggered when a sensor is updated.
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protectedinherited |
Desired time between updates, set indirectly by Sensor::SetUpdateRate.
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protectedinherited |
Pointer to the world.