SensorTypes.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_SENSORS_SENSORTYPES_HH_
#define _GAZEBO_SENSORS_SENSORTYPES_HH_

#include <vector>
#include <memory>
#include "gazebo/util/system.hh"
#include "gazebo/common/EnumIface.hh"

namespace gazebo
{
  namespace sensors
  {
    class AltimeterSensor;
    class Sensor;
    class RaySensor;
    class CameraSensor;
    class LogicalCameraSensor;
    class MagnetometerSensor;
    class MultiCameraSensor;
    class DepthCameraSensor;
    class ContactSensor;
    class ImuSensor;
    class GpuRaySensor;
    class RFIDSensor;
    class RFIDTag;
    class SonarSensor;
    class ForceTorqueSensor;
    class GpsSensor;
    class Noise;
    class GaussianNoiseModel;
    class ImageGaussianNoiseModel;
    class WideAngleCameraSensor;
    class WirelessTransceiver;
    class WirelessTransmitter;
    class WirelessReceiver;

    typedef std::shared_ptr<AltimeterSensor> AltimeterSensorPtr;

    typedef std::shared_ptr<Sensor> SensorPtr;

    typedef std::shared_ptr<RaySensor> RaySensorPtr;

    typedef std::shared_ptr<CameraSensor> CameraSensorPtr;

    typedef std::shared_ptr<MagnetometerSensor> MagnetometerSensorPtr;

    typedef std::shared_ptr<MultiCameraSensor> MultiCameraSensorPtr;

    typedef std::shared_ptr<DepthCameraSensor> DepthCameraSensorPtr;

    typedef std::shared_ptr<WideAngleCameraSensor> WideAngleCameraSensorPtr;

    typedef std::shared_ptr<ContactSensor> ContactSensorPtr;

    typedef std::shared_ptr<ImuSensor> ImuSensorPtr;

    typedef std::shared_ptr<GpuRaySensor> GpuRaySensorPtr;

    typedef std::shared_ptr<RFIDSensor> RFIDSensorPtr;

    typedef std::shared_ptr<RFIDTag> RFIDTagPtr;

    typedef std::shared_ptr<SonarSensor> SonarSensorPtr;

    typedef std::shared_ptr<ForceTorqueSensor> ForceTorqueSensorPtr;

    typedef std::shared_ptr<GpsSensor> GpsSensorPtr;

    typedef std::shared_ptr<Noise> NoisePtr;

    typedef std::shared_ptr<GaussianNoiseModel> GaussianNoiseModelPtr;

    typedef std::shared_ptr<ImageGaussianNoiseModel>
        ImageGaussianNoiseModelPtr;

    typedef std::shared_ptr<WirelessTransceiver> WirelessTransceiverPtr;

    typedef std::shared_ptr<WirelessTransmitter> WirelessTransmitterPtr;

    typedef std::shared_ptr<WirelessReceiver> WirelessReceiverPtr;

    typedef std::vector<AltimeterSensor> AltimeterSensor_V;

    typedef std::vector<SensorPtr> Sensor_V;

    typedef std::vector<RaySensorPtr> RaySensor_V;

    typedef std::vector<CameraSensorPtr> CameraSensor_V;

    typedef std::vector<MultiCameraSensorPtr> MultiCameraSensor_V;

    typedef std::vector<DepthCameraSensorPtr> DepthCameraSensor_V;

    typedef std::vector<ContactSensorPtr> ContactSensor_V;

    typedef std::vector<ImuSensorPtr> ImuSensor_V;

    typedef std::vector<GpuRaySensorPtr> GpuRaySensor_V;

    typedef std::vector<RFIDSensor> RFIDSensor_V;

    typedef std::vector<RFIDTag> RFIDTag_V;

    typedef std::vector<WirelessTransceiver> WirelessTransceiver_V;

    typedef std::vector<WirelessTransmitter> WirelessTransmitter_V;

    typedef std::vector<WirelessReceiver> WirelessReceiver_V;

    typedef std::shared_ptr<LogicalCameraSensor> LogicalCameraSensorPtr;

    enum SensorNoiseType
    {
      SENSOR_NOISE_TYPE_BEGIN = 0,

      NO_NOISE = SENSOR_NOISE_TYPE_BEGIN,

      CAMERA_NOISE = 1,

      GPU_RAY_NOISE = 2,

      GPS_POSITION_LATITUDE_NOISE_METERS = 3,

      GPS_POSITION_LONGITUDE_NOISE_METERS = 4,

      GPS_POSITION_ALTITUDE_NOISE_METERS = 5,

      GPS_VELOCITY_LATITUDE_NOISE_METERS = 6,

      GPS_VELOCITY_LONGITUDE_NOISE_METERS = 7,

      GPS_VELOCITY_ALTITUDE_NOISE_METERS = 8,

      RAY_NOISE = 9,

      MAGNETOMETER_X_NOISE_TESLA = 10,

      MAGNETOMETER_Y_NOISE_TESLA = 11,

      MAGNETOMETER_Z_NOISE_TESLA = 12,

      ALTIMETER_POSITION_NOISE_METERS = 13,

      ALTIMETER_VELOCITY_NOISE_METERS_PER_S = 14,

      IMU_ANGVEL_X_NOISE_RADIANS_PER_S = 15,

      IMU_ANGVEL_Y_NOISE_RADIANS_PER_S = 16,

      IMU_ANGVEL_Z_NOISE_RADIANS_PER_S = 17,

      IMU_LINACC_X_NOISE_METERS_PER_S_SQR = 18,

      IMU_LINACC_Y_NOISE_METERS_PER_S_SQR = 19,

      IMU_LINACC_Z_NOISE_METERS_PER_S_SQR = 20,

      SENSOR_NOISE_TYPE_END
    };

    enum SensorCategory
    {
      // IMAGE must be the first element, and it must start with 0. Do not
      // change this! See SensorManager::sensorContainers for reference.
      IMAGE = 0,

      RAY = 1,

      OTHER = 2,

      CATEGORY_COUNT = 3
    };
  }
}
#endif