Sensor with one or more rays. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::RaySensor:

Public Member Functions
	RaySensor ()
	Constructor.

virtual	~RaySensor ()
	Destructor.

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

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

double	GetAngleResolution () const
	Get the angle in radians between each range.

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

physics::MultiRayShapePtr	GetLaserShape () const
	Returns a pointer to the internal physics::MultiRayShape.

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.

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.

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

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.

virtual void	Init ()
	Initialize the sensor.

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

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

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

virtual	~Sensor ()
	Destructor.

template<typename T >
event::ConnectionPtr	ConnectUpdated (T _subscriber)
	Connect a signal that is triggered when the sensor is updated.

void	DisconnectUpdated (event::ConnectionPtr &_c)
	Disconnect from a the updated signal.

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

SensorCategory	GetCategory () const
	Get the category of the sensor.

common::Time	GetLastMeasurementTime ()
	Return last measurement time.

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.

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

double	GetUpdateRate ()
	Get the update rate of the sensor.

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

void	ResetLastUpdateTime ()
	Reset the lastUpdateTime to zero.

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 sensor.

virtual void	UpdateImpl (bool _force)
	This gets overwritten by derived sensor types.

Additional Inherited Members
Protected Attributes inherited from gazebo::sensors::Sensor
bool	active
	True if sensor generation is active.

std::vector< event::ConnectionPtr >	connections
	All event connections.

common::Time	lastMeasurementTime
	Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.

common::Time	lastUpdateTime
	Time of the last update.

transport::NodePtr	node
	Node for communication.

std::string	parentName
	Name of the parent.

std::vector< SensorPluginPtr >	plugins
	All the plugins for the sensor.

math::Pose	pose
	Pose of the sensor.

transport::SubscriberPtr	poseSub
	Subscribe to pose updates.

sdf::ElementPtr	sdf
	Pointer the the SDF element for the sensor.

common::Time	updatePeriod
	Desired time between updates, set indirectly by Sensor::SetUpdateRate.

gazebo::physics::WorldPtr	world
	Pointer to the world.

Detailed Description

Sensor with one or more rays.

This sensor cast rays into the world, tests for intersections, and reports the range to the nearest object. It is used by ranging sensor models (e.g., sonars and scanning laser range finders).

Constructor & Destructor Documentation

gazebo::sensors::RaySensor::RaySensor ( )

Constructor.

virtual gazebo::sensors::RaySensor::~RaySensor ( )

virtual

Destructor.

Member Function Documentation

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

protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

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

Get the maximum angle.

Returns: the maximum angle object

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

Get the minimum angle.

Returns: The minimum angle object

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

Get the angle in radians between each range.

Returns: Resolution of the angle

int gazebo::sensors::RaySensor::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 value of specific ray

Returns: Fiducial value

physics::MultiRayShapePtr gazebo::sensors::RaySensor::GetLaserShape ( ) const

inline

Returns a pointer to the internal physics::MultiRayShape.

Returns: Pointer to ray shape

double gazebo::sensors::RaySensor::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::RaySensor::GetRangeCount ( ) const

Get the range count.

Returns: The number of ranges

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

Get the maximum range.

Returns: The maximum range

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

Get the minimum range.

Returns: The minimum range

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

Get the range resolution.

Returns: Resolution of the range

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

Get all the ranges.

Parameters

_ranges A vector that will contain all the range data

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

Get the ray count.

Returns: The number of rays

double gazebo::sensors::RaySensor::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: Retro (intensity) value for ray

virtual std::string gazebo::sensors::RaySensor::GetTopic ( ) const

virtual

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented from gazebo::sensors::Sensor.

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

Get the vertical scan line top angle.

Returns: The Maximum angle of the scan block

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

Get the vertical scan bottom angle.

Returns: The minimum angle of the scan block

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

Get the vertical scan line count.

Returns: The number of scan lines vertically

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

Get the vertical scan line count.

Returns: The number of scan lines vertically

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

virtual

Initialize the sensor.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::RaySensor::IsActive ( )

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::RaySensor::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.

virtual void gazebo::sensors::RaySensor::UpdateImpl ( bool )

protectedvirtual

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] _force True if update is forced, false if not

Reimplemented from gazebo::sensors::Sensor.

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

RaySensor.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation