Sensor.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GAZEBO_SENSORS_SENSOR_HH_
18 #define GAZEBO_SENSORS_SENSOR_HH_
19 
20 #include <vector>
21 #include <memory>
22 #include <map>
23 #include <string>
24 
25 #include <sdf/sdf.hh>
26 #include <ignition/math/Pose3.hh>
27 #include <ignition/transport/Node.hh>
28 
32 
33 #include "gazebo/msgs/msgs.hh"
34 #include "gazebo/common/Events.hh"
35 #include "gazebo/common/Time.hh"
37 #include "gazebo/util/system.hh"
38 
39 namespace gazebo
40 {
41  namespace sensors
42  {
43  // Forward declare private data
44  class SensorPrivate;
45 
48 
51  class GZ_SENSORS_VISIBLE Sensor
52  : public std::enable_shared_from_this<Sensor>
53  {
56  public: explicit Sensor(SensorCategory _cat);
57 
59  public: virtual ~Sensor();
60 
64  public: virtual void Load(const std::string &_worldName,
65  sdf::ElementPtr _sdf);
66 
69  public: virtual void Load(const std::string &_worldName);
70 
72  public: virtual void Init();
73 
77  public: void SetParent(const std::string &_name, const uint32_t _id);
78 
82  public: std::string ParentName() const;
83 
86  public: void Update(const bool _force);
87 
90  public: double UpdateRate() const;
91 
94  public: void SetUpdateRate(const double _hz);
95 
97  public: virtual void Fini();
98 
101  public: std::string Name() const;
102 
105  public: std::string ScopedName() const;
106 
110  public: virtual ignition::math::Pose3d Pose() const;
111 
115  public: virtual void SetPose(const ignition::math::Pose3d &_pose);
116 
119  public: virtual void SetActive(const bool _value);
120 
123  public: virtual bool IsActive() const;
124 
127  public: std::string Type() const;
128 
131  public: common::Time LastUpdateTime() const;
132 
135  public: common::Time LastMeasurementTime() const;
136 
140  public: bool Visualize() const;
141 
144  public: virtual std::string Topic() const;
145 
148  public: void FillMsg(msgs::Sensor &_msg);
149 
152  public: std::string WorldName() const;
153 
159  public: event::ConnectionPtr ConnectUpdated(
160  std::function<void()> _subscriber);
161 
165  public: SensorCategory Category() const;
166 
168  public: void ResetLastUpdateTime();
169 
172  public: uint32_t Id() const;
173 
176  public: uint32_t ParentId() const;
177 
182  public: NoisePtr Noise(const SensorNoiseType _type) const;
183 
190  protected: virtual bool UpdateImpl(const bool /*_force*/) {return false;}
191 
194  protected: bool NeedsUpdate();
195 
198  private: void LoadPlugin(sdf::ElementPtr _sdf);
199 
201  protected: bool active;
202 
204  protected: sdf::ElementPtr sdf;
205 
207  protected: ignition::math::Pose3d pose;
208 
210  protected: std::vector<event::ConnectionPtr> connections;
211 
214 
216  protected: std::string parentName;
217 
219  protected: uint32_t parentId;
220 
222  protected: std::vector<SensorPluginPtr> plugins;
223 
226 
229 
233 
236 
240 
242  protected: std::map<SensorNoiseType, NoisePtr> noises;
243 
245  protected: ignition::transport::Node nodeIgn;
246 
249  private: std::unique_ptr<SensorPrivate> dataPtr;
250  };
252  }
253 }
254 #endif
SensorCategory
SensorCategory is used to categorize sensors.
Definition: SensorTypes.hh:308
std::shared_ptr< Noise > NoisePtr
Definition: SensorTypes.hh:124
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
bool active
True if sensor generation is active.
Definition: Sensor.hh:201
sdf::ElementPtr sdf
Pointer the the SDF element for the sensor.
Definition: Sensor.hh:204
uint32_t parentId
The sensor's parent ID.
Definition: Sensor.hh:219
Forward declarations for transport.
std::string parentName
Name of the parent.
Definition: Sensor.hh:216
std::vector< event::ConnectionPtr > connections
All event connections.
Definition: Sensor.hh:210
common::Time lastMeasurementTime
Stores last time that a sensor measurement was generated; this value must be updated within each sens...
Definition: Sensor.hh:239
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
common::Time updatePeriod
Desired time between updates, set indirectly by Sensor::SetUpdateRate.
Definition: Sensor.hh:232
default namespace for gazebo
common::Time lastUpdateTime
Time of the last update.
Definition: Sensor.hh:235
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
ignition::math::Pose3d pose
Pose of the sensor.
Definition: Sensor.hh:207
transport::NodePtr node
Node for communication.
Definition: Sensor.hh:213
gazebo::rendering::ScenePtr scene
Pointer to the Scene.
Definition: Sensor.hh:228
virtual bool UpdateImpl(const bool)
This gets overwritten by derived sensor types.
Definition: Sensor.hh:190
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
gazebo::physics::WorldPtr world
Pointer to the world.
Definition: Sensor.hh:225
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Forward declarations and typedefs for sensors.
SensorNoiseType
Definition: SensorTypes.hh:208
std::map< SensorNoiseType, NoisePtr > noises
Noise added to sensor data.
Definition: Sensor.hh:242
Base class for sensors.
Definition: Sensor.hh:51
ignition::transport::Node nodeIgn
Ignition transport node.
Definition: Sensor.hh:245
std::vector< SensorPluginPtr > plugins
All the plugins for the sensor.
Definition: Sensor.hh:222
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44
Noise models for sensor output signals.
Definition: Noise.hh:55