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

Sensor with sonar cone. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::SonarSensor:
Inheritance graph
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Public Member Functions

 SonarSensor ()
 Constructor. More...
 
virtual ~SonarSensor ()
 Destructor. More...
 
event::ConnectionPtr ConnectUpdate (std::function< void(msgs::SonarStamped)> _subscriber)
 Connect a to the new update signal. More...
 
void DisconnectUpdate (event::ConnectionPtr &_conn)
 Disconnect from the update signal. More...
 
double GetRadius () const GAZEBO_DEPRECATED(7.0)
 Get the radius of the sonar cone at maximum range. More...
 
double GetRange () GAZEBO_DEPRECATED(7.0)
 Get detected range for a sonar. More...
 
double GetRangeMax () const GAZEBO_DEPRECATED(7.0)
 Get the minimum range of the sonar. More...
 
double GetRangeMin () const GAZEBO_DEPRECATED(7.0)
 Get the minimum range of the sonar. More...
 
virtual void Init ()
 Initialize the sensor. More...
 
virtual bool IsActive () const
 Returns true if sensor generation is active. More...
 
virtual void Load (const std::string &_worldName)
 Load the sensor with default parameters. More...
 
double Radius () const
 Get the radius of the sonar cone at maximum range. More...
 
double Range ()
 Get detected range for a sonar. More...
 
double RangeMax () const
 Get the minimum range of the sonar. More...
 
double RangeMin () const
 Get the minimum range of the sonar. More...
 
virtual std::string Topic () 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...
 
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::ConnectionPtrconnections
 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< SensorPluginPtrplugins
 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 sonar cone.

This sensor uses a cone .

Constructor & Destructor Documentation

gazebo::sensors::SonarSensor::SonarSensor ( )

Constructor.

virtual gazebo::sensors::SonarSensor::~SonarSensor ( )
virtual

Destructor.

Member Function Documentation

event::ConnectionPtr gazebo::sensors::SonarSensor::ConnectUpdate ( std::function< void(msgs::SonarStamped)>  _subscriber)

Connect a to the new update signal.

Parameters
[in]_subscriberCallback function.
Returns
The connection, which must be kept in scope.
void gazebo::sensors::SonarSensor::DisconnectUpdate ( event::ConnectionPtr _conn)

Disconnect from the update signal.

Parameters
[in]_connConnection to remove.
virtual void gazebo::sensors::SonarSensor::Fini ( )
protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

double gazebo::sensors::SonarSensor::GetRadius ( ) const

Get the radius of the sonar cone at maximum range.

Returns
The radisu of the sonar cone at max range.
Deprecated:
See Radius()
double gazebo::sensors::SonarSensor::GetRange ( )

Get detected range for a sonar.

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).

Returns
Returns DBL_MAX for no detection.
Deprecated:
See Range()
double gazebo::sensors::SonarSensor::GetRangeMax ( ) const

Get the minimum range of the sonar.

Returns
The sonar's maximum range.
Deprecated:
See RangeMax()
double gazebo::sensors::SonarSensor::GetRangeMin ( ) const

Get the minimum range of the sonar.

Returns
The sonar's minimum range.
Deprecated:
See RangeMin()
virtual void gazebo::sensors::SonarSensor::Init ( )
virtual

Initialize the sensor.

Reimplemented from gazebo::sensors::Sensor.

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

Returns true if sensor generation is active.

Returns
True if active, false if not.

Reimplemented from gazebo::sensors::Sensor.

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

Load the sensor with default parameters.

Parameters
[in]_worldNameName of world to load from.

Reimplemented from gazebo::sensors::Sensor.

double gazebo::sensors::SonarSensor::Radius ( ) const

Get the radius of the sonar cone at maximum range.

Returns
The radius of the sonar cone at max range.
double gazebo::sensors::SonarSensor::Range ( )

Get detected range for a sonar.

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).

Returns
Returns DBL_MAX for no detection.
double gazebo::sensors::SonarSensor::RangeMax ( ) const

Get the minimum range of the sonar.

Returns
The sonar's maximum range.
double gazebo::sensors::SonarSensor::RangeMin ( ) const

Get the minimum range of the sonar.

Returns
The sonar's minimum range.
virtual std::string gazebo::sensors::SonarSensor::Topic ( ) const
virtual

Returns the topic name as set in SDF.

Returns
Topic name.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::SonarSensor::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]_forceTrue if update is forced, false if not
Returns
True if the sensor was updated.

Reimplemented from gazebo::sensors::Sensor.


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