Public Member Functions | List of all members
gazebo::sensors::SensorManager Class Reference

Class to manage and update all sensors. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::SensorManager:
Inheritance graph
[legend]

Public Member Functions

std::string CreateSensor (sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
 Add a sensor from an SDF element. More...
 
void Fini ()
 Finalize all the sensors. More...
 
SensorPtr GetSensor (const std::string &_name) const
 Get a sensor. More...
 
Sensor_V GetSensors () const
 Get all the sensors. More...
 
void GetSensorTypes (std::vector< std::string > &_types) const
 Get all the sensor types. More...
 
void Init ()
 Init all the sensors. More...
 
void OnCreateSensor (sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, const uint32_t _parentId)
 Add a sensor from an SDF element. More...
 
void RemoveSensor (const std::string &_name)
 Remove a sensor. More...
 
void RemoveSensors ()
 Remove all sensors. More...
 
void ResetLastUpdateTimes ()
 Reset last update times in all sensors. More...
 
void RunThreads ()
 Run sensor updates in separate threads. More...
 
bool SensorsInitialized ()
 True if SensorManager::initSensors queue is empty i.e. More...
 
void Stop ()
 Stop the run thread. More...
 
void Update (bool _force=false)
 Update all the sensors. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from SingletonT< SensorManager >
static SensorManager * Instance ()
 Get an instance of the singleton. More...
 
- Protected Member Functions inherited from SingletonT< SensorManager >
 SingletonT ()
 Constructor. More...
 
virtual ~SingletonT ()
 Destructor. More...
 

Detailed Description

Class to manage and update all sensors.

Member Function Documentation

std::string gazebo::sensors::SensorManager::CreateSensor ( sdf::ElementPtr  _elem,
const std::string &  _worldName,
const std::string &  _parentName,
uint32_t  _parentId 
)

Add a sensor from an SDF element.

This function will also Load and Init the sensor.

Parameters
[in]_elemThe SDF element that describes the sensor
[in]_worldNameName of the world in which to create the sensor
[in]_parentNameThe name of the parent link which the sensor is attached to.
Returns
The name of the sensor
void gazebo::sensors::SensorManager::Fini ( )

Finalize all the sensors.

SensorPtr gazebo::sensors::SensorManager::GetSensor ( const std::string &  _name) const

Get a sensor.

Parameters
[in]_nameThe name of a sensor to find.
Returns
A pointer to the sensor. NULL if not found.
Sensor_V gazebo::sensors::SensorManager::GetSensors ( ) const

Get all the sensors.

Returns
Vector of all the sensors.
void gazebo::sensors::SensorManager::GetSensorTypes ( std::vector< std::string > &  _types) const

Get all the sensor types.

Parameters
[out]Allthe sensor types.
void gazebo::sensors::SensorManager::Init ( )

Init all the sensors.

void gazebo::sensors::SensorManager::OnCreateSensor ( sdf::ElementPtr  _elem,
const std::string &  _worldName,
const std::string &  _parentName,
const uint32_t  _parentId 
)

Add a sensor from an SDF element.

This function will also Load and Init the sensor.

Parameters
[in]_elemThe SDF element that describes the sensor
[in]_worldNameName of the world in which to create the sensor
[in]_parentNameThe name of the parent link which the sensor is attached to.
[in]_parentIdUnique id of the sensor to create.
void gazebo::sensors::SensorManager::RemoveSensor ( const std::string &  _name)

Remove a sensor.

Parameters
[in]_nameThe name of the sensor to remove.
void gazebo::sensors::SensorManager::RemoveSensors ( )

Remove all sensors.

void gazebo::sensors::SensorManager::ResetLastUpdateTimes ( )

Reset last update times in all sensors.

void gazebo::sensors::SensorManager::RunThreads ( )

Run sensor updates in separate threads.

This will only run non-image based sensor updates.

bool gazebo::sensors::SensorManager::SensorsInitialized ( )

True if SensorManager::initSensors queue is empty i.e.

all sensors managed by SensorManager have been initialized

void gazebo::sensors::SensorManager::Stop ( )

Stop the run thread.

void gazebo::sensors::SensorManager::Update ( bool  _force = false)

Update all the sensors.

Checks to see if any sensor need to be initialized first, then updates all sensors once.

Parameters
[in]_forceTrue force update, false if not

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