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	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...

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

Functions
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

#define GZ_REGISTER_STATIC_SENSOR	(		name,
			classname
	)

Value:

GAZEBO_VISIBLE Sensor *New##classname() \
  { \
    return new gazebo::sensors::classname(); \
  } \
  GAZEBO_VISIBLE \
  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

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.

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.

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.

Returns

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

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 NULL pointer is returned.

Returns

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

GAZEBO_VISIBLE bool gazebo::sensors::init

(

)

initialize the sensor generation loop.

Returns

True if successfully initialized, false if not

GAZEBO_VISIBLE bool gazebo::sensors::load

(

)

Load the sensor library.

Returns

True if successfully loaded, false if not.

GAZEBO_VISIBLE void gazebo::sensors::remove_sensor

(

const std::string &

_sensorName

)

Remove a sensor by name.

Parameters

[in]

_sensorName

Name of sensor to remove

GAZEBO_VISIBLE bool gazebo::sensors::remove_sensors

(

)

Remove all sensors.

Returns

True if all successfully removed, false if not

GAZEBO_VISIBLE 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.

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.