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A set of sensor classes, functions, and definitions. More...


file  SensorTypes.hh
 Forward declarations and typedefs for sensors.


namespace  gazebo::sensors
 Sensors namespace.


class  gazebo::sensors::CameraSensor
 Basic camera sensor. More...
class  gazebo::sensors::ContactSensor
 Contact sensor. More...
class  gazebo::sensors::DepthCameraSensor
class  gazebo::sensors::ForceTorqueSensor
 Sensor for measure force and torque on a joint. More...
class  gazebo::sensors::GpuRaySensor
class  gazebo::sensors::ImuSensor
 An IMU sensor. More...
class  gazebo::sensors::MultiCameraSensor
 Multiple camera sensor. More...
class  gazebo::sensors::RaySensor
 Sensor with one or more rays. More...
class  gazebo::sensors::RFIDSensor
 Sensor class for RFID type of sensor. More...
class  gazebo::sensors::RFIDTag
 RFIDTag to interact with RFIDTagSensors. More...
class  gazebo::sensors::Sensor
 Base class for sensors. More...
class  SensorFactor
 The sensor factory; the class is just for namespacing purposes. More...
class  gazebo::sensors::SensorFactory
class  gazebo::sensors::SensorManager
 Class to manage and update all sensors. More...
class  gazebo::sensors::SonarSensor
 Sensor with sonar cone. More...


#define GZ_REGISTER_STATIC_SENSOR(name, classname)
 Static sensor registration macro.


std::string gazebo::sensors::create_sensor (sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName)
 Create a sensor using SDF.
bool gazebo::sensors::fini ()
 shutdown the sensor generation loop.
SensorPtr gazebo::sensors::get_sensor (const std::string &_name)
 Get a sensor using by name.
bool gazebo::sensors::init ()
 initialize the sensor generation loop.
bool gazebo::sensors::load ()
 Load the sensor library.
void gazebo::sensors::remove_sensor (const std::string &_sensorName)
 Remove a sensor by name.
bool gazebo::sensors::remove_sensors ()
 Remove all sensors.
void gazebo::sensors::run () GAZEBO_DEPRECATED(1.5)
void gazebo::sensors::run_once (bool _force=false)
 Run the sensor generation one step.
void gazebo::sensors::run_threads ()
 Run sensors in a threads. This is a non-blocking call.
void gazebo::sensors::stop ()
 Stop the sensor generation loop.

Detailed Description

A set of sensor classes, functions, and definitions.

GPU based laser sensor.

Depth camera sensor This sensor is used for simulating standard monocular cameras

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).

Macro Definition Documentation

Sensor *New##classname() \
{ \
return new gazebo::sensors::classname(); \
} \
void Register##classname() \
SensorFactory::RegisterSensor(name, New##classname);\

Static sensor registration macro.

Use this macro to register sensors with the server.

nameSensor type name, as it appears in the world file.
classnameC++ class name for the sensor.

Function Documentation

std::string gazebo::sensors::create_sensor ( sdf::ElementPtr  _elem,
const std::string &  _worldName,
const std::string &  _parentName 

Create a sensor using SDF.

[in]_elemThe SDF element that describes the sensor.
[in]_worldNameName of the world in which to create the sensor.
[in]_parentNameThe fully scoped parent name (model::link).
The name of the new sensor.
bool gazebo::sensors::fini ( )

shutdown the sensor generation loop.

True if successfully finalized, false if not
SensorPtr gazebo::sensors::get_sensor ( const std::string &  _name)

Get a sensor using by name.

The given name should have: world_name::model_name::link_name::sensor_name

[in]_nameName of the sensor. This name should be fully scoped. This means _name = world_name::model_name::link_name::sensor_name. You may use the unscoped sensor name if that name is unique within the entire simulation. If the name is not unique a NULL pointer is returned.
Pointer to the sensor, NULL if the sensor could not be found.
bool gazebo::sensors::init ( )

initialize the sensor generation loop.

True if successfully initialized, false if not
bool gazebo::sensors::load ( )

Load the sensor library.

True if successfully loaded, false if not.
void gazebo::sensors::remove_sensor ( const std::string &  _sensorName)

Remove a sensor by name.

[in]_sensorNameName of sensor to remove
bool gazebo::sensors::remove_sensors ( )

Remove all sensors.

True if all successfully removed, false if not
void gazebo::sensors::run ( )


See Also
void gazebo::sensors::run_once ( bool  _force = false)

Run the sensor generation one step.

_force,:If true, all sensors are forced to update. Otherwise a sensor will update based on it's Hz rate.
void gazebo::sensors::run_threads ( )

Run sensors in a threads. This is a non-blocking call.

void gazebo::sensors::stop ( )

Stop the sensor generation loop.