Base class for sensors. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::Sensor:

Public Member Functions
	Sensor (SensorCategory _cat)
	Constructor. More...

virtual	~Sensor ()
	Destructor. More...

template<typename T >
event::ConnectionPtr	ConnectUpdated (T _subscriber)
	Connect a signal that is triggered when the sensor is updated. More...

void	DisconnectUpdated (event::ConnectionPtr &_c)
	Disconnect from a the updated signal. More...

void	FillMsg (msgs::Sensor &_msg)
	fills a msgs::Sensor message. More...

virtual void	Fini ()
	Finalize the sensor. More...

SensorCategory	GetCategory () const
	Get the category of the sensor. More...

uint32_t	GetId () const
	Get the sensor's ID. More...

common::Time	GetLastMeasurementTime ()
	Return last measurement time. More...

common::Time	GetLastUpdateTime ()
	Return last update time. More...

std::string	GetName () const
	Get name. More...

NoisePtr	GetNoise (unsigned int _index=0) const GAZEBO_DEPRECATED(6.0)
	Get the sensor's noise model. More...

NoisePtr	GetNoise (const SensorNoiseType _type) const
	Get the sensor's noise model for a specified noise type. More...

uint32_t	GetParentId () const
	Get the sensor's parent's ID. More...

std::string	GetParentName () const
	Returns the name of the sensor parent. More...

virtual math::Pose	GetPose () const GAZEBO_DEPRECATED(6.0)
	Get the current pose. More...

std::string	GetScopedName () const
	Get fully scoped name of the sensor. More...

virtual std::string	GetTopic () const
	Returns the topic name as set in SDF. More...

std::string	GetType () const
	Get sensor type. More...

double	GetUpdateRate ()
	Get the update rate of the sensor. More...

bool	GetVisualize () const
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...

std::string	GetWorldName () const
	Returns the name of the world the sensor is in. More...

virtual void	Init ()
	Initialize the sensor. More...

virtual bool	IsActive ()
	Returns true if sensor generation is active. More...

virtual void	Load (const std::string &_worldName, sdf::ElementPtr _sdf)
	Load the sensor with SDF parameters. More...

virtual void	Load (const std::string &_worldName)
	Load the sensor with default parameters. More...

virtual ignition::math::Pose3d	Pose () const
	Get the current pose. More...

void	ResetLastUpdateTime ()
	Reset the lastUpdateTime to zero. More...

virtual void	SetActive (bool _value)
	Set whether the sensor is active or not. More...

void	SetParent (const std::string &_name, uint32_t _id)
	Set the sensor's parent. More...

void	SetUpdateRate (double _hz)
	Set the update rate of the sensor. More...

void	Update (bool _force)
	Update the sensor. More...

Protected Member Functions
bool	NeedsUpdate ()
	Return true if the sensor needs to be updated. More...

virtual bool	UpdateImpl (bool)
	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...

std::map< int, NoisePtr >	noises
	Noise added to sensor data The key maps to a SensorNoiseType, and is kept as an int value for backward compatibilty with Gazebo 5&6. 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...

transport::SubscriberPtr	poseSub
	Subscribe to pose updates. More...

gazebo::rendering::ScenePtr	scene
	Pointer to the Scene. More...

sdf::ElementPtr	sdf
	Pointer the the SDF element for the sensor. More...

common::Time	updatePeriod
	Desired time between updates, set indirectly by Sensor::SetUpdateRate. More...

gazebo::physics::WorldPtr	world
	Pointer to the world. More...

Detailed Description

Base class for sensors.

Constructor & Destructor Documentation

gazebo::sensors::Sensor::Sensor ( SensorCategory _cat )

explicit

Constructor.

Parameters

[in] _class

virtual gazebo::sensors::Sensor::~Sensor ( )

virtual

Destructor.

Member Function Documentation

template<typename T >

event::ConnectionPtr gazebo::sensors::Sensor::ConnectUpdated ( T _subscriber )

inline

Connect a signal that is triggered when the sensor is updated.

Parameters

[in] _subscriber Callback that receives the signal.

Returns: A pointer to the connection. This must be kept in scope.

See Also: Sensor::DisconnectUpdated

void gazebo::sensors::Sensor::DisconnectUpdated ( event::ConnectionPtr & _c )

inline

Disconnect from a the updated signal.

Parameters

[in] _c The connection to disconnect

See Also: Sensor::ConnectUpdated

void gazebo::sensors::Sensor::FillMsg ( msgs::Sensor & _msg )

fills a msgs::Sensor message.

Parameters

[out] _msg Message to fill.

virtual void gazebo::sensors::Sensor::Fini ( )

virtual

Finalize the sensor.

SensorCategory gazebo::sensors::Sensor::GetCategory ( ) const

Get the category of the sensor.

Returns: The category of the sensor.

See Also: SensorCategory

uint32_t gazebo::sensors::Sensor::GetId ( ) const

Get the sensor's ID.

Returns: The sensor's ID.

common::Time gazebo::sensors::Sensor::GetLastMeasurementTime ( )

Return last measurement time.

Returns: Time of last measurement.

common::Time gazebo::sensors::Sensor::GetLastUpdateTime ( )

Return last update time.

Returns: Time of last update.

std::string gazebo::sensors::Sensor::GetName ( ) const

Get name.

Returns: Name of sensor.

NoisePtr gazebo::sensors::Sensor::GetNoise ( unsigned int _index = 0 ) const

Get the sensor's noise model.

Depracted in favour of GetNoise(const SensorNoiseType _type) which explicitly specifies the noise stream

Parameters

[in] _index Index of the noise model. For most sensors this will be 0. For a multi camera sensor the index can be >=0.

Returns: The sensor's noise model.

NoisePtr gazebo::sensors::Sensor::GetNoise ( const SensorNoiseType _type ) const

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

uint32_t gazebo::sensors::Sensor::GetParentId ( ) const

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

std::string gazebo::sensors::Sensor::GetParentName ( ) const

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

virtual math::Pose gazebo::sensors::Sensor::GetPose ( ) const

virtual

Get the current pose.

Returns: Current pose of the sensor.

Deprecated:: See Pose() function that returns an ignition::math::Pose3d object.

std::string gazebo::sensors::Sensor::GetScopedName ( ) const

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

virtual std::string gazebo::sensors::Sensor::GetTopic ( ) const

virtual

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented in gazebo::sensors::GpuRaySensor, gazebo::sensors::RaySensor, gazebo::sensors::CameraSensor, gazebo::sensors::AltimeterSensor, gazebo::sensors::SonarSensor, gazebo::sensors::MagnetometerSensor, gazebo::sensors::LogicalCameraSensor, gazebo::sensors::ForceTorqueSensor, gazebo::sensors::MultiCameraSensor, and gazebo::sensors::WirelessTransceiver.

std::string gazebo::sensors::Sensor::GetType ( ) const

Get sensor type.

Returns: Type of sensor.

double gazebo::sensors::Sensor::GetUpdateRate ( )

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

bool gazebo::sensors::Sensor::GetVisualize ( ) const

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns: True if visualized, false if not.

std::string gazebo::sensors::Sensor::GetWorldName ( ) const

Returns the name of the world the sensor is in.

Returns: Name of the world.

virtual void gazebo::sensors::Sensor::Init ( )

virtual

Initialize the sensor.

virtual bool gazebo::sensors::Sensor::IsActive ( )

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented in gazebo::sensors::GpuRaySensor, gazebo::sensors::RaySensor, gazebo::sensors::ContactSensor, gazebo::sensors::ImuSensor, gazebo::sensors::LogicalCameraSensor, gazebo::sensors::CameraSensor, gazebo::sensors::MultiCameraSensor, gazebo::sensors::SonarSensor, and gazebo::sensors::ForceTorqueSensor.

virtual void gazebo::sensors::Sensor::Load	(	const std::string &	_worldName,
		sdf::ElementPtr	_sdf
	)

virtual

Load the sensor with SDF parameters.

Parameters

[in]	_sdf	SDF Sensor parameters.
[in]	_worldName	Name of world to load from.

Reimplemented in gazebo::sensors::GpuRaySensor, gazebo::sensors::ContactSensor, gazebo::sensors::RFIDSensor, gazebo::sensors::AltimeterSensor, gazebo::sensors::MagnetometerSensor, gazebo::sensors::CameraSensor, gazebo::sensors::DepthCameraSensor, gazebo::sensors::LogicalCameraSensor, gazebo::sensors::GpsSensor, gazebo::sensors::RFIDTag, gazebo::sensors::ImuSensor, and gazebo::sensors::ForceTorqueSensor.

virtual void gazebo::sensors::Sensor::Load ( const std::string & _worldName )

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from.

bool gazebo::sensors::Sensor::NeedsUpdate ( )

protected

Return true if the sensor needs to be updated.

Returns: True when sensor should be updated.

virtual ignition::math::Pose3d gazebo::sensors::Sensor::Pose ( ) const

virtual

Get the current pose.

Returns: Current pose of the sensor.

void gazebo::sensors::Sensor::ResetLastUpdateTime ( )

Reset the lastUpdateTime to zero.

virtual void gazebo::sensors::Sensor::SetActive ( bool _value )

virtual

Set whether the sensor is active or not.

Parameters

[in] _value True if active, false if not.

Reimplemented in gazebo::sensors::DepthCameraSensor.

void gazebo::sensors::Sensor::SetParent	(	const std::string &	_name,
		uint32_t	_id
	)

Set the sensor's parent.

Parameters

[in]	_name	The sensor's parent's name.
[in]	_id	The sensor's parent's ID.

void gazebo::sensors::Sensor::SetUpdateRate ( double _hz )

Set the update rate of the sensor.

Parameters

[in] _hz update rate of sensor.

void gazebo::sensors::Sensor::Update ( bool _force )

Update the sensor.

Parameters

[in] _force True to force update, false otherwise.

virtual bool gazebo::sensors::Sensor::UpdateImpl ( bool )

inlineprotectedvirtual

This gets overwritten by derived sensor types.

This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update

Parameters

[in] _force True if update is forced, false if not

Returns: True if the sensor was updated.

Member Data Documentation

bool gazebo::sensors::Sensor::active

protected

True if sensor generation is active.

std::vector<event::ConnectionPtr> gazebo::sensors::Sensor::connections

protected

All event connections.

common::Time gazebo::sensors::Sensor::lastMeasurementTime

protected

Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.

common::Time gazebo::sensors::Sensor::lastUpdateTime

protected

Time of the last update.

transport::NodePtr gazebo::sensors::Sensor::node

protected

Node for communication.

std::map<int, NoisePtr> gazebo::sensors::Sensor::noises

protected

Noise added to sensor data The key maps to a SensorNoiseType, and is kept as an int value for backward compatibilty with Gazebo 5&6.

Todo:: : Change to std::map<SensorNoiseType, NoisePtr> in Gazebo7. Adding the word GAZEBO_DEPRECATED here so that a grep will find the above note.

uint32_t gazebo::sensors::Sensor::parentId

protected

The sensor's parent ID.

std::string gazebo::sensors::Sensor::parentName

protected

Name of the parent.

std::vector<SensorPluginPtr> gazebo::sensors::Sensor::plugins

protected

All the plugins for the sensor.

ignition::math::Pose3d gazebo::sensors::Sensor::pose

protected

Pose of the sensor.

transport::SubscriberPtr gazebo::sensors::Sensor::poseSub

protected

Subscribe to pose updates.

gazebo::rendering::ScenePtr gazebo::sensors::Sensor::scene

protected

Pointer to the Scene.

sdf::ElementPtr gazebo::sensors::Sensor::sdf

protected

Pointer the the SDF element for the sensor.

common::Time gazebo::sensors::Sensor::updatePeriod

protected

Desired time between updates, set indirectly by Sensor::SetUpdateRate.

gazebo::physics::WorldPtr gazebo::sensors::Sensor::world

protected

Pointer to the world.

The documentation for this class was generated from the following file:

Sensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation