GpsSensor.hh
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1 /*
2  * Copyright (C) 2012-2015 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GPSSENSOR_HH_
19 #define _GPSSENSOR_HH_
20 
21 #include <string>
22 
23 #include <sdf/sdf.hh>
24 
25 #include "gazebo/sensors/Sensor.hh"
30 #include "gazebo/util/system.hh"
31 
32 namespace gazebo
33 {
34  namespace sensors
35  {
38 
42  {
44  public: GpsSensor();
45 
47  public: virtual ~GpsSensor();
48 
49  // Documentation inherited
50  public: virtual void Load(const std::string & _worldName,
51  sdf::ElementPtr _sdf);
52 
53  // Documentation inherited
54  public: virtual void Load(const std::string & _worldName);
55 
56  // Documentation inherited
57  public: virtual void Init();
58 
59  // Documentation inherited
60  protected: virtual bool UpdateImpl(bool _force);
61 
62  // Documentation inherited
63  public: virtual void Fini();
64 
67  public: math::Angle GetLongitude() const;
68 
71  public: math::Angle GetLatitude() const;
72 
75  public: double GetAltitude() const;
76 
78  private: NoisePtr horizontalPositionNoise;
79 
81  private: NoisePtr verticalPositionNoise;
82 
84  private: NoisePtr horizontalVelocityNoise;
85 
87  private: NoisePtr verticalVelocityNoise;
88 
90  private: transport::PublisherPtr gpsPub;
91 
93  private: std::string topicName;
94 
96  private: physics::LinkPtr parentLink;
97 
99  private: common::SphericalCoordinatesPtr sphericalCoordinates;
100 
102  private: msgs::GPS lastGpsMsg;
103  };
105  }
106 }
107 #endif
boost::shared_ptr< Noise > NoisePtr
Definition: SensorTypes.hh:107
Forward declarations for transport.
default namespace for gazebo
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Forward declarations and typedefs for sensors.
An angle and related functions.
Definition: Angle.hh:52
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
GpsSensor to provide position measurement.
Definition: GpsSensor.hh:41
boost::shared_ptr< SphericalCoordinates > SphericalCoordinatesPtr
Definition: CommonTypes.hh:135
Base class for sensors.
Definition: Sensor.hh:67
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:90