Transmitter to send wireless signals. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::WirelessTransmitter:

Public Member Functions
	WirelessTransmitter ()
	Constructor. More...

virtual	~WirelessTransmitter ()
	Destructor. More...

std::string	GetESSID () const
	Returns the Service Set Identifier (network name). More...

double	GetFreq () const
	Returns reception frequency (MHz). More...

double	GetSignalStrength (const math::Pose &_receiver, const double _rxGain) GAZEBO_DEPRECATED(6.0)
	Returns the signal strength in a given world's point (dBm). More...

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

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

double	SignalStrength (const ignition::math::Pose3d &_receiver, const double _rxGain)
	Returns the signal strength in a given world's point (dBm). More...

Public Member Functions inherited from gazebo::sensors::WirelessTransceiver
	WirelessTransceiver ()
	Constructor. More...

	~WirelessTransceiver ()
	Constructor. More...

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

double	GetGain () const
	Returns the antenna's gain of the receiver (dBi). More...

double	GetPower () const
	Returns the receiver power (dBm). More...

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

Public Member Functions inherited from gazebo::sensors::Sensor
	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...

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...

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 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 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...

Static Public Attributes
static const double	ModelStdDesv
	Std desv of the Gaussian random variable used in the propagation model. More...

static const double	NEmpty
	Constant used in the propagation model when there are no obstacles between transmitter and receiver. More...

static const double	NObstacle
	Constant used in the propagation model when there are obstacles between transmitter and receiver. More...

Protected Member Functions
virtual bool	UpdateImpl (bool _force)
	This gets overwritten by derived sensor types. More...

Protected Member Functions inherited from gazebo::sensors::Sensor
bool	NeedsUpdate ()
	Return true if the sensor needs to be updated. More...

Protected Attributes
double	freq
	Reception frequency (MHz). More...

Protected Attributes inherited from gazebo::sensors::WirelessTransceiver
double	gain
	Antenna's gain of the receiver (dBi). More...

boost::weak_ptr< physics::Link >	parentEntity
	Parent entity which the sensor is attached to. More...

double	power
	Receiver's power (dBm). More...

transport::PublisherPtr	pub
	Publisher to publish propagation model data. More...

ignition::math::Pose3d	referencePose
	Sensor reference pose. More...

Protected Attributes inherited from gazebo::sensors::Sensor
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

Transmitter to send wireless signals.

Constructor & Destructor Documentation

gazebo::sensors::WirelessTransmitter::WirelessTransmitter ( )

Constructor.

virtual gazebo::sensors::WirelessTransmitter::~WirelessTransmitter ( )

virtual

Destructor.

Member Function Documentation

std::string gazebo::sensors::WirelessTransmitter::GetESSID ( ) const

Returns the Service Set Identifier (network name).

Returns: Service Set Identifier (network name).

double gazebo::sensors::WirelessTransmitter::GetFreq ( ) const

Returns reception frequency (MHz).

Returns: Reception frequency (MHz).

double gazebo::sensors::WirelessTransmitter::GetSignalStrength	(	const math::Pose &	_receiver,
		const double	_rxGain
	)

Returns the signal strength in a given world's point (dBm).

Parameters

[in]	_receiver	Pose of the receiver
[in]	_rxGain	Receiver gain value

Returns: Signal strength in a world's point (dBm).

Deprecated:: See SignalStrength() function that accepts an ignition::math::Pose3d object.

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

virtual

Initialize the sensor.

Reimplemented from gazebo::sensors::WirelessTransceiver.

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

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from.

Reimplemented from gazebo::sensors::WirelessTransceiver.

double gazebo::sensors::WirelessTransmitter::SignalStrength	(	const ignition::math::Pose3d &	_receiver,
		const double	_rxGain
	)

Returns the signal strength in a given world's point (dBm).

Parameters

[in]	_receiver	Pose of the receiver
[in]	_rxGain	Receiver gain value

Returns: Signal strength in a world's point (dBm).

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

protectedvirtual

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.

Reimplemented from gazebo::sensors::Sensor.

Member Data Documentation

double gazebo::sensors::WirelessTransmitter::freq

protected

Reception frequency (MHz).

const double gazebo::sensors::WirelessTransmitter::ModelStdDesv

static

Std desv of the Gaussian random variable used in the propagation model.

const double gazebo::sensors::WirelessTransmitter::NEmpty

static

Constant used in the propagation model when there are no obstacles between transmitter and receiver.

const double gazebo::sensors::WirelessTransmitter::NObstacle

static

Constant used in the propagation model when there are obstacles between transmitter and receiver.

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

WirelessTransmitter.hh

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation