Sensor with one or more rays. More...

#include <sensors/sensors.hh>

Inherits Sensor.

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...

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...

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

void	FillMsg (msgs::Sensor &_msg)
	fills a msgs::Sensor message. More...

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

SensorCategory	GetCategory () const GAZEBO_DEPRECATED(7.0)
	Get the category of the sensor. More...

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

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

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

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...

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...

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...

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...

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...

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)
	Load the sensor with default parameters. 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...

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...

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

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

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

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...

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...

bool	NeedsUpdate ()
	Return true if the sensor needs to be updated. More...

virtual bool	UpdateImpl (const bool _force)
	This gets overwritten by derived sensor types. More...

Protected Attributes
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

RaySensor ( )

Constructor.

virtual ~RaySensor ( )

virtual

Destructor.

Member Function Documentation

ignition::math::Angle AngleMax ( ) const

Get the maximum angle.

Returns: the maximum angle object

ignition::math::Angle AngleMin ( ) const

Get the minimum angle.

Returns: The minimum angle object

double AngleResolution ( ) const

Get the angle in radians between each range.

Returns: Resolution of the angle

SensorCategory Category ( ) const

inherited

Get the category of the sensor.

Returns: The category of the sensor.

See Also: SensorCategory

event::ConnectionPtr ConnectUpdated ( std::function< void()> _subscriber )

inherited

Connect a signal that is triggered when the sensor is updated.

Parameters

[in] _subscriber Callback that receives the signal.

Returns: A pointer to the connection. This must be kept in scope.

See Also: Sensor::DisconnectUpdated

void DisconnectUpdated ( event::ConnectionPtr & _c )

inherited

Disconnect from a the updated signal.

Parameters

[in] _c The connection to disconnect

See Also: Sensor::ConnectUpdated

int 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

void FillMsg ( msgs::Sensor & _msg )

inherited

fills a msgs::Sensor message.

Parameters

[out] _msg Message to fill.

virtual void Fini ( )

protectedvirtual

Finalize the sensor.

Reimplemented from Sensor.

double GetAngleResolution ( ) const

Get the angle in radians between each range.

Returns: Resolution of the angle

Deprecated:: See AngleResolution()

SensorCategory GetCategory ( ) const

inherited

Get the category of the sensor.

Returns: The category of the sensor.

See Also: SensorCategory

Deprecated:: See Category() function.

int 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)

uint32_t GetId ( ) const

inherited

Get the sensor's ID.

Returns: The sensor's ID.

Deprecated:: See Id() function

physics::MultiRayShapePtr GetLaserShape ( ) const

Returns a pointer to the internal physics::MultiRayShape.

Returns: Pointer to ray shape

Deprecated:: See LaserShape()

common::Time GetLastMeasurementTime ( )

inherited

Return last measurement time.

Returns: Time of last measurement.

Deprecated:: See LastMeasurementTime() function.

common::Time GetLastUpdateTime ( )

inherited

Return last update time.

Returns: Time of last update.

Deprecated:: See LastUpdateTime() function

std::string GetName ( ) const

inherited

Get name.

Returns: Name of sensor.

Deprecated:: See Name() function.

NoisePtr GetNoise ( const SensorNoiseType _type ) const

inherited

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

Deprecated:: See Noise(const SensorNoiseType _type) function

uint32_t GetParentId ( ) const

inherited

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

Deprecated:: See ParentId() function

std::string GetParentName ( ) const

inherited

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

Deprecated:: See ParentName() function.

double 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 GetRangeCount ( ) const

Get the range count.

Returns: The number of ranges

Deprecated:: See RangeCount

double GetRangeMax ( ) const

Get the maximum range.

Returns: The maximum range

Deprecated:: See RangeMax()

double GetRangeMin ( ) const

Get the minimum range.

Returns: The minimum range

Deprecated:: See RangeMin()

double GetRangeResolution ( ) const

Get the range resolution.

Returns: Resolution of the range

Deprecated:: See RangeResolution()

void 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 GetRayCount ( ) const

Get the ray count.

Returns: The number of rays

Deprecated:: See RayCount()

double 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)

std::string GetScopedName ( ) const

inherited

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

Deprecated:: See ScopedName() function

virtual std::string GetTopic ( ) const

virtualinherited

Returns the topic name as set in SDF.

Returns: Topic name.

Deprecated:: See Topic() function.

Reimplemented in AltimeterSensor, LogicalCameraSensor, and MagnetometerSensor.

std::string GetType ( ) const

inherited

Get sensor type.

Returns: Type of sensor.

Deprecated:: See Type() function.

double GetUpdateRate ( )

inherited

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

Deprecated:: See UpdateRate() function

double GetVerticalAngleResolution ( ) const

Get the vertical angle in radians between each range.

Returns: Resolution of the angle

Deprecated:: See VerticalAngleResolution()

int GetVerticalRangeCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

Deprecated:: See VerticalRangeCount();

int GetVerticalRayCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

Deprecated:: See VerticalRayCount()

bool GetVisualize ( ) const

inherited

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns: True if visualized, false if not.

Deprecated:: See Visualize() function

std::string GetWorldName ( ) const

inherited

Returns the name of the world the sensor is in.

Returns: Name of the world.

Deprecated:: See WorldName() function.

uint32_t Id ( ) const

inherited

Get the sensor's ID.

Returns: The sensor's ID.

virtual void Init ( )

virtual

Initialize the sensor.

Reimplemented from Sensor.

virtual bool IsActive ( ) const

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from Sensor.

physics::MultiRayShapePtr LaserShape ( ) const

Returns a pointer to the internal physics::MultiRayShape.

Returns: Pointer to ray shape

common::Time LastMeasurementTime ( ) const

inherited

Return last measurement time.

Returns: Time of last measurement.

Deprecated:: See LastMeasurementTime() function.

common::Time LastUpdateTime ( ) const

inherited

Return last update time.

Returns: Time of last update.

virtual void Load ( const std::string & _worldName )

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from.

Reimplemented from Sensor.

virtual void Load	(	const std::string &	_worldName,
		sdf::ElementPtr	_sdf
	)

virtualinherited

Load the sensor with SDF parameters.

Parameters

[in]	_sdf	SDF Sensor parameters.
[in]	_worldName	Name of world to load from.

Reimplemented in GpuRaySensor, ContactSensor, CameraSensor, ForceTorqueSensor, AltimeterSensor, GpsSensor, LogicalCameraSensor, RFIDSensor, MagnetometerSensor, ImuSensor, and RFIDTag.

std::string Name ( ) const

inherited

Get name.

Returns: Name of sensor.

bool NeedsUpdate ( )

protectedinherited

Return true if the sensor needs to be updated.

Returns: True when sensor should be updated.

NoisePtr Noise ( const SensorNoiseType _type ) const

inherited

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

uint32_t ParentId ( ) const

inherited

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

std::string ParentName ( ) const

inherited

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

virtual ignition::math::Pose3d Pose ( ) const

virtualinherited

Get the current pose.

Returns: Current pose of the sensor.

See Also: SetPose()

double 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 RangeCount ( ) const

Get the range count.

Returns: The number of ranges

double RangeMax ( ) const

Get the maximum range.

Returns: The maximum range

double RangeMin ( ) const

Get the minimum range.

Returns: The minimum range

double RangeResolution ( ) const

Get the range resolution.

Returns: Resolution of the range

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

Get all the ranges.

Parameters

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

int RayCount ( ) const

Get the ray count.

Returns: The number of rays

void ResetLastUpdateTime ( )

inherited

Reset the lastUpdateTime to zero.

double 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

std::string ScopedName ( ) const

inherited

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

virtual void SetActive ( const bool _value )

virtualinherited

Set whether the sensor is active or not.

Parameters

[in] _value True if active, false if not.

void SetParent	(	const std::string &	_name,
		const uint32_t	_id
	)

inherited

Set the sensor's parent.

Parameters

[in]	_name	The sensor's parent's name.
[in]	_id	The sensor's parent's ID.

virtual void SetPose ( const ignition::math::Pose3d & _pose )

virtualinherited

Set the current pose.

Parameters

[in] _pose New pose of the sensor.

See Also: Pose()

void SetUpdateRate ( const double _hz )

inherited

Set the update rate of the sensor.

Parameters

[in] _hz update rate of sensor.

virtual std::string Topic ( ) const

virtual

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented from Sensor.

std::string Type ( ) const

inherited

Get sensor type.

Returns: Type of sensor.

void Update ( const bool _force )

inherited

Update the sensor.

Parameters

[in] _force True to force update, false otherwise.

virtual bool 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 Sensor.

double UpdateRate ( ) const

inherited

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

ignition::math::Angle VerticalAngleMax ( ) const

Get the vertical scan line top angle.

Returns: The Maximum angle of the scan block

ignition::math::Angle VerticalAngleMin ( ) const

Get the vertical scan bottom angle.

Returns: The minimum angle of the scan block

double VerticalAngleResolution ( ) const

Get the vertical angle in radians between each range.

Returns: Resolution of the angle

int VerticalRangeCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

int VerticalRayCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

bool Visualize ( ) const

inherited

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns: True if visualized, false if not.

std::string WorldName ( ) const

inherited

Returns the name of the world the sensor is in.

Returns: Name of the world.

Member Data Documentation

bool active

protectedinherited

True if sensor generation is active.

std::vector<event::ConnectionPtr> connections

protectedinherited

All event connections.

common::Time lastMeasurementTime

protectedinherited

Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.

common::Time lastUpdateTime

protectedinherited

Time of the last update.

transport::NodePtr node

protectedinherited

Node for communication.

std::map<SensorNoiseType, NoisePtr> noises

protectedinherited

Noise added to sensor data.

uint32_t parentId

protectedinherited

The sensor's parent ID.

std::string parentName

protectedinherited

Name of the parent.

std::vector<SensorPluginPtr> plugins

protectedinherited

All the plugins for the sensor.

ignition::math::Pose3d pose

protectedinherited

Pose of the sensor.

gazebo::rendering::ScenePtr scene

protectedinherited

Pointer to the Scene.

sdf::ElementPtr sdf

protectedinherited

Pointer the the SDF element for the sensor.

common::Time updatePeriod

protectedinherited

Desired time between updates, set indirectly by Sensor::SetUpdateRate.

gazebo::physics::WorldPtr world

protectedinherited

Pointer to the world.

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

RaySensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation