Sensor.hh

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/*
 * Copyright 2018 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 SDF_SENSOR_HH_
#define SDF_SENSOR_HH_

#include <memory>
#include <string>
#include <ignition/math/Pose3.hh>
#include <ignition/utils/ImplPtr.hh>
#include "sdf/Element.hh"
#include "sdf/SemanticPose.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //

  // Forward declarations.
  class AirPressure;
  class Altimeter;
  class Camera;
  class ForceTorque;
  class Imu;
  class Lidar;
  class Magnetometer;
  struct PoseRelativeToGraph;
  template <typename T> class ScopedGraph;

  // Developer note: Make sure to update sensorTypeStrs in the source file
  // when changing this enum.
  enum class SensorType
  {
    NONE = 0,

    ALTIMETER = 1,

    CAMERA = 2,

    CONTACT = 3,

    DEPTH_CAMERA = 4,

    FORCE_TORQUE = 5,

    GPS = 6,

    GPU_LIDAR = 7,

    IMU = 8,

    LOGICAL_CAMERA = 9,

    MAGNETOMETER = 10,

    MULTICAMERA = 11,

    LIDAR = 12,

    RFID = 13,

    RFIDTAG = 14,

    SONAR = 15,

    WIRELESS_RECEIVER = 16,

    WIRELESS_TRANSMITTER = 17,

    AIR_PRESSURE = 18,

    RGBD_CAMERA = 19,

    THERMAL_CAMERA = 20
  };

  class SDFORMAT_VISIBLE Sensor
  {
    public: Sensor();

    public: Errors Load(ElementPtr _sdf);

    public: std::string Name() const;

    public: void SetName(const std::string &_name);

    public: std::string Topic() const;

    public: void SetTopic(const std::string &_topic);

    public: const ignition::math::Pose3d &RawPose() const;

    public: void SetRawPose(const ignition::math::Pose3d &_pose);

    public: const std::string &PoseRelativeTo() const;

    public: void SetPoseRelativeTo(const std::string &_frame);

    public: sdf::SemanticPose SemanticPose() const;

    public: sdf::ElementPtr Element() const;

    public: SensorType Type() const;

    public: void SetType(const SensorType _type);

    public: bool SetType(const std::string &_typeStr);

    public: std::string TypeStr() const;

    public: double UpdateRate() const;

    public: void SetUpdateRate(double _hz);

    public: bool operator==(const Sensor &_sensor) const;

    public: bool operator!=(const Sensor &_sensor) const;

    public: const Magnetometer *MagnetometerSensor() const;

    public: void SetMagnetometerSensor(const Magnetometer &_mag);

    public: const Altimeter *AltimeterSensor() const;

    public: void SetAltimeterSensor(const Altimeter &_alt);

    public: const AirPressure *AirPressureSensor() const;

    public: void SetAirPressureSensor(const AirPressure &_air);

    public: void SetCameraSensor(const Camera &_cam);

    public: const Camera *CameraSensor() const;

    public: void SetForceTorqueSensor(const ForceTorque &_ft);

    public: const ForceTorque *ForceTorqueSensor() const;

    public: void SetImuSensor(const Imu &_imu);

    public: const Imu *ImuSensor() const;

    public: const Lidar *LidarSensor() const;

    public: void SetLidarSensor(const Lidar &_lidar);

    private: void SetXmlParentName(const std::string &_xmlParentName);

    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);

    friend class Link;

    IGN_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif