Sensors

A set of sensor classes, functions, and definitions. More...

Files
file	SensorTypes.hh
	Forward declarations and typedefs for sensors.

Namespaces
	gazebo::sensors
	Sensors namespace.

Classes
class	AltimeterSensor
	AltimeterSensor to provide vertical position and velocity. More...
class	CameraSensor
	Basic camera sensor. More...
class	ContactSensor
	Contact sensor. More...
class	DepthCameraSensor
class	ForceTorqueSensor
	Sensor for measure force and torque on a joint. More...
class	GpsSensor
	GpsSensor to provide position measurement. More...
class	GpuRaySensor
	GPU based laser sensor. More...
class	ImuSensor
	An IMU sensor. More...
class	LogicalCameraSensor
	A camera sensor that reports locations of objects instead of rendering a scene. More...
class	MagnetometerSensor
	MagnetometerSensor to provide magnetic field measurement. More...
class	MultiCameraSensor
	Multiple camera sensor. More...
class	Noise
	Noise models for sensor output signals. More...
class	NoiseFactory
	Use this noise manager for creating and loading noise models. More...
class	RaySensor
	Sensor with one or more rays. More...
class	RFIDSensor
	Sensor class for RFID type of sensor. More...
class	RFIDTag
	RFIDTag to interact with RFIDTagSensors. More...
class	Sensor
	Base class for sensors. More...
class	SensorFactor
	The sensor factory; the class is just for namespacing purposes. More...
class	SensorFactory
class	SensorManager
	Class to manage and update all sensors. More...
class	SonarSensor
	Sensor with sonar cone. More...
class	WideAngleCameraSensor
	Camera sensor with variable mapping function. More...
class	WirelessReceiver
	Sensor class for receiving wireless signals. More...
class	WirelessTransceiver
	Sensor class for receiving wireless signals. More...
class	WirelessTransmitter
	Transmitter to send wireless signals. More...

Macros
#define	GZ_REGISTER_STATIC_SENSOR(name, classname)
	Static sensor registration macro. More...

Functions
std::string	create_sensor (sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
	Create a sensor using SDF. More...
void	disable ()
	Disable sensors. More...
void	enable ()
	Enable sensors. More...
bool	fini ()
	shutdown the sensor generation loop. More...
SensorPtr	get_sensor (const std::string &_name)
	Get a sensor using by name. More...
bool	init ()
	initialize the sensor generation loop. More...
bool	load ()
	Load the sensor library. More...
void	remove_sensor (const std::string &_sensorName)
	Remove a sensor by name. More...
bool	remove_sensors ()
	Remove all sensors. More...
void	run_once (bool _force=false)
	Run the sensor generation one step. More...
void	run_threads ()
	Run sensors in a threads. This is a non-blocking call. More...
GAZEBO_VISIBLE bool	running ()
	Return true if the manager is running. More...
void	stop ()
	Stop the sensor generation loop. More...

Detailed Description

A set of sensor classes, functions, and definitions.

Depth camera sensor This sensor is used for simulating standard monocular cameras

Macro Definition Documentation

GZ_REGISTER_STATIC_SENSOR

#define GZ_REGISTER_STATIC_SENSOR	(		name,
			classname
	)

Value:

Sensor *New##classname() \
  { \
    return new gazebo::sensors::classname(); \
  } \
  \
  void Register##classname() \
  {\
    SensorFactory::RegisterSensor(name, New##classname);\
  }

Static sensor registration macro.

Use this macro to register sensors with the server.

Parameters

name	Sensor type name, as it appears in the world file.
classname	C++ class name for the sensor.

Function Documentation

create_sensor()

std::string gazebo::sensors::create_sensor	(	sdf::ElementPtr	_elem,
		const std::string &	_worldName,
		const std::string &	_parentName,
		uint32_t	_parentId
	)

Create a sensor using SDF.

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 fully scoped parent name (model::link).

Returns

The name of the new sensor.

disable()

void gazebo::sensors::disable

(

)

Disable sensors.

enable()

void gazebo::sensors::enable

(

)

Enable sensors.

fini()

bool gazebo::sensors::fini

(

)

shutdown the sensor generation loop.

Returns

True if successfully finalized, false if not

get_sensor()

SensorPtr gazebo::sensors::get_sensor

(

const std::string &

_name

)

Get a sensor using by name.

The given name should have: world_name::model_name::link_name::sensor_name

Parameters

[in]

_name

Name of the sensor. This name should be fully scoped. This means _name = world_name::model_name::link_name::sensor_name. You may use the unscoped sensor name if that name is unique within the entire simulation. If the name is not unique a nullptr pointer is returned.

Returns

Pointer to the sensor, nullptr if the sensor could not be found.

init()

bool gazebo::sensors::init

(

)

initialize the sensor generation loop.

Returns

True if successfully initialized, false if not

load()

bool gazebo::sensors::load

(

)

Load the sensor library.

Returns

True if successfully loaded, false if not.

remove_sensor()

void gazebo::sensors::remove_sensor

(

const std::string &

_sensorName

)

Remove a sensor by name.

Parameters

[in]

_sensorName

Name of sensor to remove

remove_sensors()

bool gazebo::sensors::remove_sensors

(

)

Remove all sensors.

Returns

True if all successfully removed, false if not

run_once()

void gazebo::sensors::run_once

(

bool

_force = false

)

Run the sensor generation one step.

Parameters

_force

If true, all sensors are forced to update. Otherwise a sensor will update based on it's Hz rate.

run_threads()

void gazebo::sensors::run_threads

(

)

Run sensors in a threads. This is a non-blocking call.

running()

GAZEBO_VISIBLE bool gazebo::sensors::running

(

)

Return true if the manager is running.

Returns

True if manager is running.

stop()

void gazebo::sensors::stop

(

)

Stop the sensor generation loop.