A camera sensor that reports locations of objects instead of rendering a scene. More...
#include <sensors/sensors.hh>
Inherits Sensor.
Public Member Functions | |
LogicalCameraSensor () | |
Constructor. More... | |
virtual | ~LogicalCameraSensor () |
Destructor. More... | |
double | AspectRatio () const |
Get the aspect ratio, which is the width divided by height of the near or far planes. 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... | |
double | Far () const |
Get the far distance. More... | |
void | FillMsg (msgs::Sensor &_msg) |
fills a msgs::Sensor message. More... | |
ignition::math::Angle | HorizontalFOV () const |
Get the horizontal field of view. More... | |
uint32_t | Id () const |
Get the sensor's ID. More... | |
msgs::LogicalCameraImage | Image () const |
Get the latest image. More... | |
virtual void | Init () |
Initialize the sensor. More... | |
virtual bool | IsActive () const |
Returns true if sensor generation is active. 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... | |
virtual void | Load (const std::string &_worldName) |
Load the sensor with default parameters. More... | |
std::string | Name () const |
Get name. More... | |
double | Near () const |
Get the near distance. 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... | |
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... | |
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... | |
ignition::transport::Node | nodeIgn |
Ignition transport node. 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... | |
A camera sensor that reports locations of objects instead of rendering a scene.
This camera finds models in the sensor's vicinity, and transmits information about the models on the sensor's topic.
Constructor.
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virtual |
Destructor.
double AspectRatio | ( | ) | const |
Get the aspect ratio, which is the width divided by height of the near or far planes.
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inherited |
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Connect a signal that is triggered when the sensor is updated.
[in] | _subscriber | Callback that receives the signal. |
double Far | ( | ) | const |
Get the far distance.
This is the distance from the frustum's vertex to the farthest plane.
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fills a msgs::Sensor message.
[out] | _msg | Message to fill. |
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Finalize the sensor.
Reimplemented from Sensor.
ignition::math::Angle HorizontalFOV | ( | ) | const |
Get the horizontal field of view.
The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.
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Get the sensor's ID.
msgs::LogicalCameraImage Image | ( | ) | const |
Get the latest image.
An image is an instance of msgs::LogicalCameraImage, which contains a list of detected models.
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Initialize the sensor.
Reimplemented from Sensor.
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Returns true if sensor generation is active.
Reimplemented from Sensor.
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Return last measurement time.
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Return last update time.
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Load the sensor with default parameters.
[in] | _worldName | Name of world to load from. |
Reimplemented from Sensor.
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Get name.
double Near | ( | ) | const |
Get the near distance.
This is the distance from the frustum's vertex to the closest plane.
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Return true if the sensor needs to be updated.
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Get the sensor's noise model for a specified noise type.
[in] | _type | Index of the noise type. Refer to SensorNoiseType enumeration for possible indices |
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Get the sensor's parent's ID.
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Returns the name of the sensor parent.
The parent name is set by Sensor::SetParent.
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virtualinherited |
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Reset the lastUpdateTime to zero.
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Get fully scoped name of the sensor.
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Set whether the sensor is active or not.
[in] | _value | True if active, false if not. |
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Set the sensor's parent.
[in] | _name | The sensor's parent's name. |
[in] | _id | The sensor's parent's ID. |
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Set the update rate of the sensor.
[in] | _hz | update rate of sensor. |
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Get sensor type.
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Update the sensor.
[in] | _force | True to force update, false otherwise. |
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This gets overwritten by derived sensor types.
This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update
[in] | _force | True if update is forced, false if not |
Reimplemented from Sensor.
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Get the update rate of the sensor.
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Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
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Returns the name of the world the sensor is in.
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True if sensor generation is active.
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All event connections.
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Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.
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Time of the last update.
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Node for communication.
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Ignition transport node.
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Noise added to sensor data.
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The sensor's parent ID.
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Name of the parent.
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All the plugins for the sensor.
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Pose of the sensor.
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Pointer to the Scene.
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Pointer the the SDF element for the sensor.
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Desired time between updates, set indirectly by Sensor::SetUpdateRate.
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Pointer to the world.