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WirelessTransceiver.hh
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _WIRELESS_TRANSCEIVER_HH_
19 #define _WIRELESS_TRANSCEIVER_HH_
20 
21 #include <string>
23 #include "gazebo/sensors/Sensor.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace sensors
30  {
33 
37  {
39  public: WirelessTransceiver();
40 
42  public: ~WirelessTransceiver();
43 
44  // Documentation inherited
45  public: virtual std::string GetTopic() const;
46 
47  // Documentation inherited
48  public: virtual void Load(const std::string &_worldName);
49 
50  // Documentation inherited
51  public: virtual void Init();
52 
53  // Documentation inherited
54  public: virtual void Fini();
55 
58  public: double GetGain() const;
59 
62  public: double GetPower() const;
63 
66 
68  protected: double power;
69 
71  protected: double gain;
72 
74  protected: boost::weak_ptr<physics::Link> parentEntity;
75 
78  };
80  }
81 }
82 #endif
Sensor class for receiving wireless signals.
Definition: WirelessTransceiver.hh:36
Encapsulates a position and rotation in three space.
Definition: Pose.hh:40
Forward declarations for transport.
default namespace for gazebo
transport::PublisherPtr pub
Publisher to publish propagation model data.
Definition: WirelessTransceiver.hh:65
boost::weak_ptr< physics::Link > parentEntity
Parent entity which the sensor is attached to.
Definition: WirelessTransceiver.hh:74
double power
Receiver's power (dBm).
Definition: WirelessTransceiver.hh:68
double gain
Antenna's gain of the receiver (dBi).
Definition: WirelessTransceiver.hh:71
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
math::Pose referencePose
Sensor reference pose.
Definition: WirelessTransceiver.hh:77
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:44
Base class for sensors.
Definition: Sensor.hh:67
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48