#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::GpuRaySensor:

Public Member Functions
	GpuRaySensor ()
	Constructor.

virtual	~GpuRaySensor ()
	Destructor.

event::ConnectionPtr	ConnectNewLaserFrame (boost::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> subscriber)
	Connect a to the add entity signal Nate do these parameters need to be specified here?

void	DisconnectNewLaserFrame (event::ConnectionPtr &c)
	Disconnect Laser Frame.

double	Get1stRatio ()
	Nate fill in.

double	Get2ndRatio ()

math::Angle	GetAngleMax () const
	Get the maximum angle.

math::Angle	GetAngleMin () const
	Get the minimum angle.

double	GetAngleResolution () const
	Get radians between each range.

unsigned int	GetCameraCount ()
	Gets the camera count.

double	GetCHFOV ()

double	GetCVFOV ()

int	GetFiducial (int _index)
	Get detected fiducial value for a ray.

double	GetHAngle ()

double	GetHFOV ()

rendering::GpuLaserPtr	GetLaserCamera () const
	Returns a pointer to the internally kept rendering::GpuLaser.

double	GetRange (int _index)
	Get detected range for a ray.

int	GetRangeCount () const
	Get the range count.

double	GetRangeMax () const
	Get the maximum range.

double	GetRangeMin () const
	Get the minimum range.

double	GetRangeResolution () const
	Get the range resolution If RangeResolution is 1, the number of simulated rays is equal to the number of returned range readings.

void	GetRanges (std::vector< double > &_ranges)
	Get all the ranges.

int	GetRayCount () const
	Get the ray count.

double	GetRetro (int _index)
	Get detected retro (intensity) value for a ray.

double	GetVAngle ()

math::Angle	GetVerticalAngleMax () const
	Get the vertical scan line top angle.

math::Angle	GetVerticalAngleMin () const
	Get the vertical scan bottom angle.

int	GetVerticalRangeCount () const
	Get the vertical scan line count.

int	GetVerticalRayCount () const
	Get the vertical scan line count.

double	GetVFOV ()

virtual void	Init ()
	Initialize the ray.

bool	IsHorizontal ()
	Gets if sensor is horizontal.

virtual void	Load (const std::string &_worldName, sdf::ElementPtr &_sdf)
	Load the sensor with SDF parameters.

virtual void	Load (const std::string &_worldName)
	Load the sensor with default parameters.

void	SetAngleMax (double _angle)
	Set the scan maximum angle.

void	SetAngleMin (double _angle)
	Set the scan minimum angle.

void	SetVerticalAngleMax (double _angle)
	Set the vertical scan line top angle.

void	SetVerticalAngleMin (double _angle)
	Set the vertical scan bottom angle.

Public Member Functions inherited from gazebo::sensors::Sensor
	Sensor ()
	Constructor.

virtual	~Sensor ()
	Destructor.

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

common::Time	GetLastUpdateTime ()
	return last update time

std::string	GetName () const
	Get name.

std::string	GetParentName () const
	Returns the name of the sensor parent.

virtual math::Pose	GetPose () const
	Get the current pose.

std::string	GetScopedName () const
	Get fully scoped name of the sensor.

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

std::string	GetType () const
	Get sensor type.

bool	GetVisualize () const
	return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF

std::string	GetWorldName () const
	Returns the name of the world the sensor is in.

bool	IsActive ()
	Returns true if sensor generation is active.

virtual void	Load (const std::string &_worldName, sdf::ElementPtr _sdf)
	Load the sensor with SDF parameters.

virtual void	SetActive (bool _value)
	Set whether the sensor is active or not.

virtual void	SetParent (const std::string &_name)
	Set the parent of the sensor.

void	SetUpdateRate (double _hz)
	Set the update rate of the sensor.

void	Update (bool _force)
	Update the sensor.

Protected Member Functions
virtual void	Fini ()
	Finalize the ray.

virtual void	UpdateImpl (bool _force)
	Update the sensor information.

Protected Attributes
unsigned int	cameraCount

sdf::ElementPtr	cameraElem

double	chfov

double	cvfov

double	far

double	hang

unsigned int	height_1st

unsigned int	height_2nd

double	hfov

sdf::ElementPtr	horzElem

bool	isHorizontal

double	near

math::Vector3	offset

sdf::ElementPtr	rangeElem

double	ratio_1st

double	ratio_2nd

sdf::ElementPtr	rayElem

sdf::ElementPtr	scanElem

double	vang

sdf::ElementPtr	vertElem

double	vfov

unsigned int	width_1st

unsigned int	width_2nd

Protected Attributes inherited from gazebo::sensors::Sensor
bool	active
	True if active.

std::vector< event::ConnectionPtr >	connections

common::Time	lastUpdateTime

transport::NodePtr	node

std::string	parentName

std::vector< SensorPluginPtr >	plugins

math::Pose	pose

transport::SubscriberPtr	poseSub

sdf::ElementPtr	sdf

common::Time	updatePeriod

gazebo::physics::WorldPtr	world

Constructor & Destructor Documentation

gazebo::sensors::GpuRaySensor::GpuRaySensor ( )

Constructor.

virtual gazebo::sensors::GpuRaySensor::~GpuRaySensor ( )

virtual

Destructor.

Member Function Documentation

event::ConnectionPtr gazebo::sensors::GpuRaySensor::ConnectNewLaserFrame ( boost::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> subscriber )

Connect a to the add entity signal Nate do these parameters need to be specified here?

void gazebo::sensors::GpuRaySensor::DisconnectNewLaserFrame ( event::ConnectionPtr & c )

Disconnect Laser Frame.

Parameters

Connection pointer to disconnect

virtual void gazebo::sensors::GpuRaySensor::Fini ( )

protectedvirtual

Finalize the ray.

Reimplemented from gazebo::sensors::Sensor.

double gazebo::sensors::GpuRaySensor::Get1stRatio ( )

Nate fill in.

I'm not sure what these what these sensor parameters refer to

double gazebo::sensors::GpuRaySensor::Get2ndRatio ( )

Todo:: Document me

math::Angle gazebo::sensors::GpuRaySensor::GetAngleMax ( ) const

Get the maximum angle.

Returns: the maximum angle

math::Angle gazebo::sensors::GpuRaySensor::GetAngleMin ( ) const

Get the minimum angle.

Returns: The minimum angle

double gazebo::sensors::GpuRaySensor::GetAngleResolution ( ) const

Get radians between each range.

unsigned int gazebo::sensors::GpuRaySensor::GetCameraCount ( )

Gets the camera count.

Returns: Number of cameras

double gazebo::sensors::GpuRaySensor::GetCHFOV ( )

Todo:: Document me

double gazebo::sensors::GpuRaySensor::GetCVFOV ( )

Todo:: Document me

int gazebo::sensors::GpuRaySensor::GetFiducial ( 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 of specific ray

Returns: Fiducial value of ray

double gazebo::sensors::GpuRaySensor::GetHAngle ( )

Todo:: Document me

double gazebo::sensors::GpuRaySensor::GetHFOV ( )

Todo:: Document me

rendering::GpuLaserPtr gazebo::sensors::GpuRaySensor::GetLaserCamera ( ) const

inline

Returns a pointer to the internally kept rendering::GpuLaser.

Returns: Pointer to GpuLaser

double gazebo::sensors::GpuRaySensor::GetRange ( 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 DBL_MAX for no detection.

int gazebo::sensors::GpuRaySensor::GetRangeCount ( ) const

Get the range count.

Returns: The number of ranges

double gazebo::sensors::GpuRaySensor::GetRangeMax ( ) const

Get the maximum range.

Returns: The maximum range

double gazebo::sensors::GpuRaySensor::GetRangeMin ( ) const

Get the minimum range.

Returns: The minimum range

double gazebo::sensors::GpuRaySensor::GetRangeResolution ( ) const

Get the range resolution If RangeResolution is 1, the number of simulated rays is equal to the number of returned range readings.

If it's less than 1, fewer simulated rays than actual returned range readings are used, the results are interpolated from two nearest neighbors, and vice versa.

Returns: The Range Resolution

void gazebo::sensors::GpuRaySensor::GetRanges ( std::vector< double > & _ranges )

Get all the ranges.

Parameters

_range A vector that will contain all the range data

int gazebo::sensors::GpuRaySensor::GetRayCount ( ) const

Get the ray count.

Returns: The number of rays

double gazebo::sensors::GpuRaySensor::GetRetro ( 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: Intensity value of ray

double gazebo::sensors::GpuRaySensor::GetVAngle ( )

Todo:: Document me

math::Angle gazebo::sensors::GpuRaySensor::GetVerticalAngleMax ( ) const

Get the vertical scan line top angle.

Returns: The Maximum angle of the scan block

math::Angle gazebo::sensors::GpuRaySensor::GetVerticalAngleMin ( ) const

Get the vertical scan bottom angle.

Returns: The minimum angle of the scan block

int gazebo::sensors::GpuRaySensor::GetVerticalRangeCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

int gazebo::sensors::GpuRaySensor::GetVerticalRayCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

double gazebo::sensors::GpuRaySensor::GetVFOV ( )

Todo:: Document me

virtual void gazebo::sensors::GpuRaySensor::Init ( )

virtual

Initialize the ray.

Reimplemented from gazebo::sensors::Sensor.

bool gazebo::sensors::GpuRaySensor::IsHorizontal ( )

Gets if sensor is horizontal.

Returns: True if horizontal, false if not

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

virtual

Load the sensor with SDF parameters.

Parameters

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

virtual void gazebo::sensors::GpuRaySensor::Load ( const std::string & _worldName )

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from

Reimplemented from gazebo::sensors::Sensor.

void gazebo::sensors::GpuRaySensor::SetAngleMax ( double _angle )

Set the scan maximum angle.

Parameters

[in] _angle The maximum angle

void gazebo::sensors::GpuRaySensor::SetAngleMin ( double _angle )

Set the scan minimum angle.

Parameters

[in] _angle The minimum angle

void gazebo::sensors::GpuRaySensor::SetVerticalAngleMax ( double _angle )

Set the vertical scan line top angle.

Parameters

[in] _angle The Maximum angle of the scan block

void gazebo::sensors::GpuRaySensor::SetVerticalAngleMin ( double _angle )

Set the vertical scan bottom angle.

Parameters

[in] _angle The minimum angle of the scan block

virtual void gazebo::sensors::GpuRaySensor::UpdateImpl ( bool _force )

protectedvirtual

Update the sensor information.

Parameters

[in] _force True if update is forced, false if not

Reimplemented from gazebo::sensors::Sensor.

Member Data Documentation

unsigned int gazebo::sensors::GpuRaySensor::cameraCount

protected

sdf::ElementPtr gazebo::sensors::GpuRaySensor::cameraElem

protected

double gazebo::sensors::GpuRaySensor::chfov

protected

double gazebo::sensors::GpuRaySensor::cvfov

protected

double gazebo::sensors::GpuRaySensor::far

protected

double gazebo::sensors::GpuRaySensor::hang

protected

unsigned int gazebo::sensors::GpuRaySensor::height_1st

protected

unsigned int gazebo::sensors::GpuRaySensor::height_2nd

protected

double gazebo::sensors::GpuRaySensor::hfov

protected

sdf::ElementPtr gazebo::sensors::GpuRaySensor::horzElem

protected

bool gazebo::sensors::GpuRaySensor::isHorizontal

protected

double gazebo::sensors::GpuRaySensor::near

protected

math::Vector3 gazebo::sensors::GpuRaySensor::offset

protected

sdf::ElementPtr gazebo::sensors::GpuRaySensor::rangeElem

protected

double gazebo::sensors::GpuRaySensor::ratio_1st

protected

double gazebo::sensors::GpuRaySensor::ratio_2nd

protected

sdf::ElementPtr gazebo::sensors::GpuRaySensor::rayElem

protected

sdf::ElementPtr gazebo::sensors::GpuRaySensor::scanElem

protected

double gazebo::sensors::GpuRaySensor::vang

protected

sdf::ElementPtr gazebo::sensors::GpuRaySensor::vertElem

protected

double gazebo::sensors::GpuRaySensor::vfov

protected

unsigned int gazebo::sensors::GpuRaySensor::width_1st

protected

unsigned int gazebo::sensors::GpuRaySensor::width_2nd

protected

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

GpuRaySensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation