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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::AltimeterSensor
 AltimeterSensor to provide vertical position and velocity. More...
 
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
 GPU based laser sensor. More...
 
class  gazebo::sensors::ImuSensor
 An IMU sensor. More...
 
class  gazebo::sensors::LogicalCameraSensor
 A camera sensor that reports locations of objects instead of rendering a scene. More...
 
class  gazebo::sensors::MagnetometerSensor
 MagnetometerSensor to provide magnetic field measurement. 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.

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

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);\
}
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:66

Static sensor registration macro.

Use this macro to register sensors with the server.

Parameters
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.

Parameters
[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).
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]_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.
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]_sensorNameName 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
_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.