Sensor with one or more rays. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::RaySensor:

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

virtual	~RaySensor ()
	Destructor. More...

ignition::math::Angle	AngleMax () const
	Get the maximum angle. More...

ignition::math::Angle	AngleMin () const
	Get the minimum angle. More...

double	AngleResolution () const
	Get the angle in radians between each range. More...

int	Fiducial (const unsigned int _index) const
	Get detected fiducial value for a ray. More...

double	GetAngleResolution () const GAZEBO_DEPRECATED(7.0)
	Get the angle in radians between each range. More...

int	GetFiducial (unsigned int _index) GAZEBO_DEPRECATED(7.0)
	Get detected fiducial value for a ray. More...

physics::MultiRayShapePtr	GetLaserShape () const GAZEBO_DEPRECATED(7.0)
	Returns a pointer to the internal physics::MultiRayShape. More...

double	GetRange (unsigned int _index) GAZEBO_DEPRECATED(7.0)
	Get detected range for a ray. More...

int	GetRangeCount () const GAZEBO_DEPRECATED(7.0)
	Get the range count. More...

double	GetRangeMax () const GAZEBO_DEPRECATED(7.0)
	Get the maximum range. More...

double	GetRangeMin () const GAZEBO_DEPRECATED(7.0)
	Get the minimum range. More...

double	GetRangeResolution () const GAZEBO_DEPRECATED(7.0)
	Get the range resolution. More...

void	GetRanges (std::vector< double > &_ranges) GAZEBO_DEPRECATED(7.0)
	Get all the ranges. More...

int	GetRayCount () const GAZEBO_DEPRECATED(7.0)
	Get the ray count. More...

double	GetRetro (unsigned int _index) GAZEBO_DEPRECATED(7.0)
	Get detected retro (intensity) value for a ray. More...

double	GetVerticalAngleResolution () const GAZEBO_DEPRECATED(7.0)
	Get the vertical angle in radians between each range. More...

int	GetVerticalRangeCount () const GAZEBO_DEPRECATED(7.0)
	Get the vertical scan line count. More...

int	GetVerticalRayCount () const GAZEBO_DEPRECATED(7.0)
	Get the vertical scan line count. More...

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

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

physics::MultiRayShapePtr	LaserShape () const
	Returns a pointer to the internal physics::MultiRayShape. More...

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

double	Range (const unsigned int _index) const
	Get detected range for a ray. More...

int	RangeCount () const
	Get the range count. More...

double	RangeMax () const
	Get the maximum range. More...

double	RangeMin () const
	Get the minimum range. More...

double	RangeResolution () const
	Get the range resolution. More...

void	Ranges (std::vector< double > &_ranges) const
	Get all the ranges. More...

int	RayCount () const
	Get the ray count. More...

double	Retro (const unsigned int _index) const
	Get detected retro (intensity) value for a ray. More...

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

ignition::math::Angle	VerticalAngleMax () const
	Get the vertical scan line top angle. More...

ignition::math::Angle	VerticalAngleMin () const
	Get the vertical scan bottom angle. More...

double	VerticalAngleResolution () const
	Get the vertical angle in radians between each range. More...

int	VerticalRangeCount () const
	Get the vertical scan line count. More...

int	VerticalRayCount () const
	Get the vertical scan line count. More...

Public Member Functions inherited from gazebo::sensors::Sensor
	Sensor (SensorCategory _cat)
	Constructor. More...

virtual	~Sensor ()
	Destructor. More...

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

event::ConnectionPtr	ConnectUpdated (std::function< void()> _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 GAZEBO_DEPRECATED(7.0)
	Get the category of the sensor. More...

uint32_t	GetId () const GAZEBO_DEPRECATED(7.0)
	Get the sensor's ID. More...

common::Time	GetLastMeasurementTime () GAZEBO_DEPRECATED(7.0)
	Return last measurement time. More...

common::Time	GetLastUpdateTime () GAZEBO_DEPRECATED(7.0)
	Return last update time. More...

std::string	GetName () const GAZEBO_DEPRECATED(7.0)
	Get name. More...

NoisePtr	GetNoise (const SensorNoiseType _type) const GAZEBO_DEPRECATED(7.0)
	Get the sensor's noise model for a specified noise type. More...

uint32_t	GetParentId () const GAZEBO_DEPRECATED(7.0)
	Get the sensor's parent's ID. More...

std::string	GetParentName () const GAZEBO_DEPRECATED(7.0)
	Returns the name of the sensor parent. More...

std::string	GetScopedName () const GAZEBO_DEPRECATED(7.0)
	Get fully scoped name of the sensor. More...

virtual std::string	GetTopic () const GAZEBO_DEPRECATED(7.0)
	Returns the topic name as set in SDF. More...

std::string	GetType () const GAZEBO_DEPRECATED(7.0)
	Get sensor type. More...

double	GetUpdateRate () GAZEBO_DEPRECATED(7.0)
	Get the update rate of the sensor. More...

bool	GetVisualize () const GAZEBO_DEPRECATED(7.0)
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...

std::string	GetWorldName () const GAZEBO_DEPRECATED(7.0)
	Returns the name of the world the sensor is in. More...

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

common::Time	LastMeasurementTime () const
	Return last measurement time. More...

common::Time	LastUpdateTime () const
	Return last update time. More...

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

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

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

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

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

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

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

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

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

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

virtual void	SetPose (const ignition::math::Pose3d &_pose)
	Set the current pose. More...

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

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

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

double	UpdateRate () const
	Get the update rate of the sensor. More...

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

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

Protected Member Functions
virtual void	Fini ()
	Finalize the sensor. More...

virtual bool	UpdateImpl (const 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...

Additional Inherited Members
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< SensorNoiseType, NoisePtr >	noises
	Noise added to sensor data. 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...

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

Sensor with one or more rays.

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).

Constructor & Destructor Documentation

gazebo::sensors::RaySensor::RaySensor ( )

Constructor.

virtual gazebo::sensors::RaySensor::~RaySensor ( )

virtual

Destructor.

Member Function Documentation

ignition::math::Angle gazebo::sensors::RaySensor::AngleMax ( ) const

Get the maximum angle.

Returns: the maximum angle object

ignition::math::Angle gazebo::sensors::RaySensor::AngleMin ( ) const

Get the minimum angle.

Returns: The minimum angle object

double gazebo::sensors::RaySensor::AngleResolution ( ) const

Get the angle in radians between each range.

Returns: Resolution of the angle

int gazebo::sensors::RaySensor::Fiducial ( const unsigned int _index ) const

Get detected fiducial value for a ray.

Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).

Parameters

[in] _index Index value of specific ray

Returns: Fiducial value

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

protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

double gazebo::sensors::RaySensor::GetAngleResolution ( ) const

Get the angle in radians between each range.

Returns: Resolution of the angle

Deprecated:: See AngleResolution()

int gazebo::sensors::RaySensor::GetFiducial ( unsigned int _index )

Get detected fiducial value for a ray.

Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).

Parameters

[in] _index Index value of specific ray

Returns: Fiducial value

Deprecated:: See Fiducial(unsigned int _index)

physics::MultiRayShapePtr gazebo::sensors::RaySensor::GetLaserShape ( ) const

Returns a pointer to the internal physics::MultiRayShape.

Returns: Pointer to ray shape

Deprecated:: See LaserShape()

double gazebo::sensors::RaySensor::GetRange ( unsigned int _index )

Get detected range for a ray.

Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).

Parameters

[in] _index Index of specific ray

Returns: Returns RangeMax for no detection.

Deprecated:: See Range(unsigned int _index)

int gazebo::sensors::RaySensor::GetRangeCount ( ) const

Get the range count.

Returns: The number of ranges

Deprecated:: See RangeCount

double gazebo::sensors::RaySensor::GetRangeMax ( ) const

Get the maximum range.

Returns: The maximum range

Deprecated:: See RangeMax()

double gazebo::sensors::RaySensor::GetRangeMin ( ) const

Get the minimum range.

Returns: The minimum range

Deprecated:: See RangeMin()

double gazebo::sensors::RaySensor::GetRangeResolution ( ) const

Get the range resolution.

Returns: Resolution of the range

Deprecated:: See RangeResolution()

void gazebo::sensors::RaySensor::GetRanges ( std::vector< double > & _ranges )

Get all the ranges.

Parameters

_ranges A vector that will contain all the range data

Deprecated:: See Ranges(std::vector<double> &_ranges)

int gazebo::sensors::RaySensor::GetRayCount ( ) const

Get the ray count.

Returns: The number of rays

Deprecated:: See RayCount()

double gazebo::sensors::RaySensor::GetRetro ( unsigned int _index )

Get detected retro (intensity) value for a ray.

Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).

Parameters

[in] _index Index of specific ray

Returns: Retro (intensity) value for ray

Deprecated:: See Retro(unsigned int _index)

double gazebo::sensors::RaySensor::GetVerticalAngleResolution ( ) const

Get the vertical angle in radians between each range.

Returns: Resolution of the angle

Deprecated:: See VerticalAngleResolution()

int gazebo::sensors::RaySensor::GetVerticalRangeCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

Deprecated:: See VerticalRangeCount();

int gazebo::sensors::RaySensor::GetVerticalRayCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

Deprecated:: See VerticalRayCount()

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

virtual

Initialize the sensor.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::RaySensor::IsActive ( ) const

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from gazebo::sensors::Sensor.

physics::MultiRayShapePtr gazebo::sensors::RaySensor::LaserShape ( ) const

Returns a pointer to the internal physics::MultiRayShape.

Returns: Pointer to ray shape

virtual void gazebo::sensors::RaySensor::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::Sensor.

double gazebo::sensors::RaySensor::Range ( const unsigned int _index ) const

Get detected range for a ray.

Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).

Parameters

[in] _index Index of specific ray

Returns: Returns RangeMax for no detection.

int gazebo::sensors::RaySensor::RangeCount ( ) const

Get the range count.

Returns: The number of ranges

double gazebo::sensors::RaySensor::RangeMax ( ) const

Get the maximum range.

Returns: The maximum range

double gazebo::sensors::RaySensor::RangeMin ( ) const

Get the minimum range.

Returns: The minimum range

double gazebo::sensors::RaySensor::RangeResolution ( ) const

Get the range resolution.

Returns: Resolution of the range

void gazebo::sensors::RaySensor::Ranges ( std::vector< double > & _ranges ) const

Get all the ranges.

Parameters

[out] _ranges A vector that will contain all the range data

int gazebo::sensors::RaySensor::RayCount ( ) const

Get the ray count.

Returns: The number of rays

double gazebo::sensors::RaySensor::Retro ( const unsigned int _index ) const

Get detected retro (intensity) value for a ray.

Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).

Parameters

[in] _index Index of specific ray

Returns: Retro (intensity) value for ray

virtual std::string gazebo::sensors::RaySensor::Topic ( ) const

virtual

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::RaySensor::UpdateImpl ( const 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.

ignition::math::Angle gazebo::sensors::RaySensor::VerticalAngleMax ( ) const

Get the vertical scan line top angle.

Returns: The Maximum angle of the scan block

ignition::math::Angle gazebo::sensors::RaySensor::VerticalAngleMin ( ) const

Get the vertical scan bottom angle.

Returns: The minimum angle of the scan block

double gazebo::sensors::RaySensor::VerticalAngleResolution ( ) const

Get the vertical angle in radians between each range.

Returns: Resolution of the angle

int gazebo::sensors::RaySensor::VerticalRangeCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

int gazebo::sensors::RaySensor::VerticalRayCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

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

RaySensor.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation