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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
gazebo::sensors::Sensor Class Reference

#include <Sensor.hh>

Inheritance diagram for gazebo::sensors::Sensor:
Inheritance graph
[legend]

Public Member Functions

 Sensor ()
 Constructor.
 
virtual ~Sensor ()
 Destructor.
 
void FillMsg (msgs::Sensor &_msg)
 fills a msgs::Sensor message.
 
virtual void Fini ()
 Finalize the sensor.
 
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.
 
virtual void Init ()
 Initialize the sensor.
 
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 Load (const std::string &_worldName)
 Load the sensor with default 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 UpdateImpl (bool)
 This gets overwritten by derived sensor types.
 

Protected Attributes

bool active
 True if active.
 
std::vector< event::ConnectionPtrconnections
 
common::Time lastUpdateTime
 
transport::NodePtr node
 
std::string parentName
 
std::vector< SensorPluginPtrplugins
 
math::Pose pose
 
transport::SubscriberPtr poseSub
 
sdf::ElementPtr sdf
 
common::Time updatePeriod
 
gazebo::physics::WorldPtr world
 

Constructor & Destructor Documentation

gazebo::sensors::Sensor::Sensor ( )

Constructor.

virtual gazebo::sensors::Sensor::~Sensor ( )
virtual

Destructor.

Member Function Documentation

void gazebo::sensors::Sensor::FillMsg ( msgs::Sensor &  _msg)

fills a msgs::Sensor message.

Parameters
_msgMessage to fill
virtual void gazebo::sensors::Sensor::Fini ( )
virtual
common::Time gazebo::sensors::Sensor::GetLastUpdateTime ( )

return last update time

Returns
Time of last update
std::string gazebo::sensors::Sensor::GetName ( ) const

Get name.

Returns
name of sensor
std::string gazebo::sensors::Sensor::GetParentName ( ) const

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns
Name of Parent
virtual math::Pose gazebo::sensors::Sensor::GetPose ( ) const
virtual

Get the current pose.

Returns
Current pose of the sensor
std::string gazebo::sensors::Sensor::GetScopedName ( ) const

Get fully scoped name of the sensor.

Returns
world_name::parent_name::sensor_name
virtual std::string gazebo::sensors::Sensor::GetTopic ( ) const
virtual

Returns the topic name as set in SDF.

Returns
Topic name

Reimplemented in gazebo::sensors::RaySensor, and gazebo::sensors::CameraSensor.

std::string gazebo::sensors::Sensor::GetType ( ) const

Get sensor type.

Returns
Type of sensor
bool gazebo::sensors::Sensor::GetVisualize ( ) const

return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF

Returns
True if visualized, false if not
std::string gazebo::sensors::Sensor::GetWorldName ( ) const

Returns the name of the world the sensor is in.

Returns
Name of the world
virtual void gazebo::sensors::Sensor::Init ( )
virtual
bool gazebo::sensors::Sensor::IsActive ( )

Returns true if sensor generation is active.

Returns
True if active, false if not
virtual void gazebo::sensors::Sensor::Load ( const std::string &  _worldName,
sdf::ElementPtr  _sdf 
)
virtual

Load the sensor with SDF parameters.

Parameters
[in]_sdfSDF Sensor parameters
[in]_worldNameName of world to load from

Reimplemented in gazebo::sensors::RaySensor, gazebo::sensors::ContactSensor, gazebo::sensors::CameraSensor, and gazebo::sensors::RFIDSensor.

virtual void gazebo::sensors::Sensor::Load ( const std::string &  _worldName)
virtual
virtual void gazebo::sensors::Sensor::SetActive ( bool  _value)
virtual

Set whether the sensor is active or not.

Parameters
[in]valueTrue if active, false if not

Reimplemented in gazebo::sensors::CameraSensor, and gazebo::sensors::DepthCameraSensor.

virtual void gazebo::sensors::Sensor::SetParent ( const std::string &  _name)
virtual

Set the parent of the sensor.

Reimplemented in gazebo::sensors::CameraSensor, and gazebo::sensors::DepthCameraSensor.

void gazebo::sensors::Sensor::SetUpdateRate ( double  _hz)

Set the update rate of the sensor.

Parameters
[in]_hzupdate rate of sensor
void gazebo::sensors::Sensor::Update ( bool  _force)

Update the sensor.

Parameters
[in]_forceTrue to force update, false otherwise
virtual void gazebo::sensors::Sensor::UpdateImpl ( bool  )
inlineprotectedvirtual

This gets overwritten by derived sensor types.

    This function is called during Sensor::Update.
    And in turn, Sensor::Update is called by
    SensorManager::Update
Parameters
[in]_forceTrue if update is forced, false if not

Reimplemented in gazebo::sensors::CameraSensor, gazebo::sensors::RaySensor, gazebo::sensors::ContactSensor, gazebo::sensors::GpuRaySensor, gazebo::sensors::DepthCameraSensor, gazebo::sensors::RFIDSensor, and gazebo::sensors::RFIDTag.

Member Data Documentation

bool gazebo::sensors::Sensor::active
protected

True if active.

std::vector<event::ConnectionPtr> gazebo::sensors::Sensor::connections
protected
common::Time gazebo::sensors::Sensor::lastUpdateTime
protected
transport::NodePtr gazebo::sensors::Sensor::node
protected
std::string gazebo::sensors::Sensor::parentName
protected
std::vector<SensorPluginPtr> gazebo::sensors::Sensor::plugins
protected
math::Pose gazebo::sensors::Sensor::pose
protected
transport::SubscriberPtr gazebo::sensors::Sensor::poseSub
protected
sdf::ElementPtr gazebo::sensors::Sensor::sdf
protected
common::Time gazebo::sensors::Sensor::updatePeriod
protected
gazebo::physics::WorldPtr gazebo::sensors::Sensor::world
protected

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