17 #ifndef GAZEBO_SENSORS_SENSOR_HH_
18 #define GAZEBO_SENSORS_SENSOR_HH_
26 #include <ignition/math/Pose3.hh>
27 #include <ignition/transport/Node.hh>
52 :
public std::enable_shared_from_this<Sensor>
64 public:
virtual void Load(
const std::string &_worldName,
65 sdf::ElementPtr _sdf);
69 public:
virtual void Load(
const std::string &_worldName);
72 public:
virtual void Init();
77 public:
void SetParent(
const std::string &_name,
const uint32_t _id);
86 public:
virtual void Update(
const bool _force);
97 public:
virtual void Fini();
101 public: std::string
Name()
const;
110 public:
virtual ignition::math::Pose3d
Pose()
const;
115 public:
virtual void SetPose(
const ignition::math::Pose3d &_pose);
127 public: std::string
Type()
const;
144 public:
virtual std::string
Topic()
const;
160 std::function<
void()> _subscriber);
172 public: uint32_t
Id()
const;
198 protected:
virtual bool UpdateImpl(
const bool ) {
return false;}
206 private:
void LoadPlugin(sdf::ElementPtr _sdf);
219 protected: sdf::ElementPtr
sdf;
222 protected: ignition::math::Pose3d
pose;
237 protected: std::vector<SensorPluginPtr>
plugins;
257 protected: std::map<SensorNoiseType, NoisePtr>
noises;
267 private: std::unique_ptr<SensorPrivate> dataPtr;
default namespace for gazebo
sensors
Definition: SensorManager.hh:37
Forward declarations and typedefs for sensors.
Forward declarations for transport.
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:48
A class for event processing.
Definition: Event.hh:100
Base class for sensors.
Definition: Sensor.hh:53
bool active
True if sensor generation is active.
Definition: Sensor.hh:216
Sensor(SensorCategory _cat)
Constructor.
event::EventT< void()> updated
Event triggered when a sensor is updated.
Definition: Sensor.hh:260
ignition::math::Pose3d pose
Pose of the sensor.
Definition: Sensor.hh:222
double UpdateRate() const
Get the update rate of the sensor.
virtual double NextRequiredTimestamp() const
Get the next timestamp that will be used by the sensor.
common::Time lastMeasurementTime
Stores last time that a sensor measurement was generated; this value must be updated within each sens...
Definition: Sensor.hh:254
std::string ScopedName() const
Get fully scoped name of the sensor.
virtual void Fini()
Finalize the sensor.
std::vector< event::ConnectionPtr > connections
All event connections.
Definition: Sensor.hh:225
virtual void Init()
Initialize the sensor.
std::string WorldName() const
Returns the name of the world the sensor is in.
std::string Name() const
Get name.
virtual ignition::math::Pose3d Pose() const
Get the current pose.
virtual ~Sensor()
Destructor.
uint32_t ParentId() const
Get the sensor's parent's ID.
virtual void Load(const std::string &_worldName, sdf::ElementPtr _sdf)
Load the sensor with SDF parameters.
virtual bool NeedsUpdate()
Return true if the sensor needs to be updated.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
transport::NodePtr node
Node for communication.
Definition: Sensor.hh:228
bool Visualize() const
Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
virtual void Update(const bool _force)
Update the sensor.
ignition::transport::Node nodeIgn
Ignition transport node.
Definition: Sensor.hh:263
common::Time LastUpdateTime() const
Return last update time.
virtual void ResetLastUpdateTime()
Reset the lastUpdateTime to zero.
virtual bool IsActive() const
Returns true if sensor generation is active.
virtual std::string Topic() const
Returns the topic name as set in SDF.
common::Time updatePeriod
Desired time between updates, set indirectly by Sensor::SetUpdateRate.
Definition: Sensor.hh:247
void FillMsg(msgs::Sensor &_msg)
fills a msgs::Sensor message.
virtual void SetPose(const ignition::math::Pose3d &_pose)
Set the current pose.
void SetParent(const std::string &_name, const uint32_t _id)
Set the sensor's parent.
std::string Type() const
Get sensor type.
std::string parentName
Name of the parent.
Definition: Sensor.hh:231
bool StrictRate() const
Returns true if the sensor is to follow strict update rate.
std::map< SensorNoiseType, NoisePtr > noises
Noise added to sensor data.
Definition: Sensor.hh:257
common::Time LastMeasurementTime() const
Return last measurement time.
virtual void SetActive(const bool _value)
Set whether the sensor is active or not.
sdf::ElementPtr sdf
Pointer the the SDF element for the sensor.
Definition: Sensor.hh:219
common::Time lastUpdateTime
Time of the last update.
Definition: Sensor.hh:250
static bool useStrictRate
Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for senso...
Definition: Sensor.hh:213
uint32_t parentId
The sensor's parent ID.
Definition: Sensor.hh:234
void SetUpdateRate(const double _hz)
Set the update rate of the sensor.
std::string ParentName() const
Returns the name of the sensor parent.
gazebo::physics::WorldPtr world
Pointer to the world.
Definition: Sensor.hh:240
gazebo::rendering::ScenePtr scene
Pointer to the Scene.
Definition: Sensor.hh:243
SensorCategory Category() const
Get the category of the sensor.
event::ConnectionPtr ConnectUpdated(std::function< void()> _subscriber)
Connect a signal that is triggered when the sensor is updated.
uint32_t Id() const
Get the sensor's ID.
std::vector< SensorPluginPtr > plugins
All the plugins for the sensor.
Definition: Sensor.hh:237
NoisePtr Noise(const SensorNoiseType _type) const
Get the sensor's noise model for a specified noise type.
virtual bool UpdateImpl(const bool)
This gets overwritten by derived sensor types.
Definition: Sensor.hh:198
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:90
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
SensorCategory
SensorCategory is used to categorize sensors.
Definition: SensorTypes.hh:309
std::shared_ptr< Noise > NoisePtr
Definition: SensorTypes.hh:124
SensorNoiseType
Definition: SensorTypes.hh:209
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
Forward declarations for the common classes.
Definition: Animation.hh:27