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


file  SensorTypes.hh
 Forward declarations and typedefs for sensors.


 Sensors namespace.


class  gazebo::sensors::CameraSensor
 Basic camera sensor. More...
class  gazebo::sensors::ContactSensor
 Contact sensor. More...
class  gazebo::sensors::DepthCameraSensor
class  gazebo::sensors::ForceTorqueSensor
 Sensor for measure force and torque on a joint. More...
class  gazebo::sensors::GpsSensor
 GpsSensor to provide position measurement. More...
class  gazebo::sensors::GpuRaySensor
class  gazebo::sensors::ImuSensor
 An IMU sensor. More...
class  gazebo::sensors::MultiCameraSensor
 Multiple camera sensor. More...
class  gazebo::sensors::Noise
 Noise models for sensor output signals. More...
class  gazebo::sensors::NoiseFactory
 Use this noise manager for creating and loading noise models. More...
class  gazebo::sensors::RaySensor
 Sensor with one or more rays. More...
class  gazebo::sensors::RFIDSensor
 Sensor class for RFID type of sensor. More...
class  gazebo::sensors::RFIDTag
 RFIDTag to interact with RFIDTagSensors. More...
class  gazebo::sensors::Sensor
 Base class for sensors. More...
class  SensorFactor
 The sensor factory; the class is just for namespacing purposes. More...
class  gazebo::sensors::SensorFactory
class  gazebo::sensors::SensorManager
 Class to manage and update all sensors. More...
class  gazebo::sensors::SonarSensor
 Sensor with sonar cone. More...
class  gazebo::sensors::WirelessReceiver
 Sensor class for receiving wireless signals. More...
class  gazebo::sensors::WirelessTransceiver
 Sensor class for receiving wireless signals. More...
class  gazebo::sensors::WirelessTransmitter
 Transmitter to send wireless signals. More...


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


GAZEBO_VISIBLE 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. More...
GAZEBO_VISIBLE void gazebo::sensors::disable ()
 Disable sensors. More...
GAZEBO_VISIBLE void gazebo::sensors::enable ()
 Enable sensors. More...
GAZEBO_VISIBLE bool gazebo::sensors::fini ()
 shutdown the sensor generation loop. More...
GAZEBO_VISIBLE SensorPtr gazebo::sensors::get_sensor (const std::string &_name)
 Get a sensor using by name. More...
GAZEBO_VISIBLE bool gazebo::sensors::init ()
 initialize the sensor generation loop. More...
GAZEBO_VISIBLE bool gazebo::sensors::load ()
 Load the sensor library. More...
GAZEBO_VISIBLE void gazebo::sensors::remove_sensor (const std::string &_sensorName)
 Remove a sensor by name. More...
GAZEBO_VISIBLE bool gazebo::sensors::remove_sensors ()
 Remove all sensors. More...
GAZEBO_VISIBLE void gazebo::sensors::run_once (bool _force=false)
 Run the sensor generation one step. More...
GAZEBO_VISIBLE void gazebo::sensors::run_threads ()
 Run sensors in a threads. This is a non-blocking call. More...
GAZEBO_VISIBLE void gazebo::sensors::stop ()
 Stop the sensor generation loop. More...

Detailed Description

A set of sensor classes, functions, and definitions.

GPU based laser sensor.

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

This sensor cast rays into the world, tests for intersections, and reports the range to the nearest object. It is used by ranging sensor models (e.g., sonars and scanning laser range finders).

Macro Definition Documentation

GAZEBO_VISIBLE Sensor *New##classname() \
{ \
return new gazebo::sensors::classname(); \
} \
void Register##classname() \
SensorFactory::RegisterSensor(name, New##classname);\
Use to represent "symbol visible" if supported.
Definition: system.hh:48

Static sensor registration macro.

Use this macro to register sensors with the server.

nameSensor type name, as it appears in the world file.
classnameC++ class name for the sensor.

Function Documentation

GAZEBO_VISIBLE 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.

[in]_elemThe SDF element that describes the sensor.
[in]_worldNameName of the world in which to create the sensor.
[in]_parentNameThe fully scoped parent name (model::link).
The name of the new sensor.
GAZEBO_VISIBLE void gazebo::sensors::disable ( )

Disable sensors.

GAZEBO_VISIBLE void gazebo::sensors::enable ( )

Enable sensors.

GAZEBO_VISIBLE bool gazebo::sensors::fini ( )

shutdown the sensor generation loop.

True if successfully finalized, false if not
GAZEBO_VISIBLE 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

[in]_nameName 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 NULL pointer is returned.
Pointer to the sensor, NULL if the sensor could not be found.
GAZEBO_VISIBLE bool gazebo::sensors::init ( )

initialize the sensor generation loop.

True if successfully initialized, false if not
GAZEBO_VISIBLE bool gazebo::sensors::load ( )

Load the sensor library.

True if successfully loaded, false if not.
GAZEBO_VISIBLE void gazebo::sensors::remove_sensor ( const std::string &  _sensorName)

Remove a sensor by name.

[in]_sensorNameName of sensor to remove
GAZEBO_VISIBLE bool gazebo::sensors::remove_sensors ( )

Remove all sensors.

True if all successfully removed, false if not
GAZEBO_VISIBLE void gazebo::sensors::run_once ( bool  _force = false)

Run the sensor generation one step.

_forceIf true, all sensors are forced to update. Otherwise a sensor will update based on it's Hz rate.
GAZEBO_VISIBLE void gazebo::sensors::run_threads ( )

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

GAZEBO_VISIBLE void gazebo::sensors::stop ( )

Stop the sensor generation loop.