Base class for sensors. More...

#include <sensors/sensors.hh>

Inherits enable_shared_from_this< Sensor >.

Inherited by AltimeterSensor, CameraSensor, ContactSensor, ForceTorqueSensor, GpsSensor, GpuRaySensor, ImuSensor, LogicalCameraSensor, MagnetometerSensor, MultiCameraSensor, RFIDSensor, RFIDTag, RaySensor, SonarSensor, and WirelessTransceiver.

Public Member Functions
	Sensor (SensorCategory _cat)
	Constructor.

virtual	~Sensor ()
	Destructor.

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.

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

virtual void	Fini ()
	Finalize the sensor.

uint32_t	Id () const
	Get the sensor's ID.

virtual void	Init ()
	Initialize the sensor.

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

common::Time	LastMeasurementTime () const
	Return last measurement time.

common::Time	LastUpdateTime () const
	Return last update time.

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

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

std::string	Name () const
	Get name.

virtual double	NextRequiredTimestamp () const
	Get the next timestamp that will be used by the sensor.

NoisePtr	Noise (const SensorNoiseType _type) const
	Get the sensor's noise model for a specified noise type.

uint32_t	ParentId () const
	Get the sensor's parent's ID.

std::string	ParentName () const
	Returns the name of the sensor parent.

virtual ignition::math::Pose3d	Pose () const
	Get the current pose.

virtual void	ResetLastUpdateTime ()
	Reset the lastUpdateTime to zero.

std::string	ScopedName () const
	Get fully scoped name of the sensor.

virtual void	SetActive (const bool _value)
	Set whether the sensor is active or not.

void	SetParent (const std::string &_name, const uint32_t _id)
	Set the sensor's parent.

virtual void	SetPose (const ignition::math::Pose3d &_pose)
	Set the current pose.

void	SetUpdateRate (const double _hz)
	Set the update rate of the sensor.

bool	StrictRate () const
	Returns true if the sensor is to follow strict update rate.

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

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

virtual void	Update (const bool _force)
	Update the sensor.

double	UpdateRate () const
	Get the update rate of the sensor.

bool	Visualize () const
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

std::string	WorldName () const
	Returns the name of the world the sensor is in.

Protected Member Functions
virtual bool	NeedsUpdate ()
	Return true if the sensor needs to be updated.

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

Protected Attributes
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.

ignition::transport::Node	nodeIgn
	Ignition transport node.

std::map< SensorNoiseType, NoisePtr >	noises
	Noise added to sensor data.

uint32_t	parentId
	The sensor's parent ID.

std::string	parentName
	Name of the parent.

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

ignition::math::Pose3d	pose
	Pose of the sensor.

gazebo::rendering::ScenePtr	scene
	Pointer to the Scene.

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

event::EventT< void()>	updated
	Event triggered when a sensor is updated.

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

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

Static Protected Attributes
static bool	useStrictRate
	Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for sensor updates to satisfy the desired rate.

Detailed Description

Base class for sensors.

Constructor & Destructor Documentation

◆ Sensor()

Sensor ( SensorCategory _cat )

explicit

Constructor.

Parameters

[in] _cat Category of the sensor

◆ ~Sensor()

virtual ~Sensor ( )

virtual

Destructor.

Member Function Documentation

◆ Category()

SensorCategory Category ( ) const

Get the category of the sensor.

Returns: The category of the sensor.

See also: SensorCategory

◆ ConnectUpdated()

event::ConnectionPtr ConnectUpdated ( std::function< void()> _subscriber )

Connect a signal that is triggered when the sensor is updated.

Parameters

[in] _subscriber Callback that receives the signal.

Returns: A pointer to the connection. This must be kept in scope.

See also: Sensor::DisconnectUpdated

◆ FillMsg()

void FillMsg ( msgs::Sensor & _msg )

fills a msgs::Sensor message.

Parameters

[out] _msg Message to fill.

◆ Fini()

virtual void Fini ( )

virtual

Finalize the sensor.

Reimplemented in AltimeterSensor, ContactSensor, ForceTorqueSensor, GpsSensor, ImuSensor, LogicalCameraSensor, MagnetometerSensor, RaySensor, RFIDSensor, RFIDTag, SonarSensor, WirelessReceiver, WirelessTransceiver, CameraSensor, GpuRaySensor, MultiCameraSensor, and WideAngleCameraSensor.

◆ Id()

uint32_t Id ( ) const

Get the sensor's ID.

Returns: The sensor's ID.

◆ Init()

virtual void Init ( )

virtual

Initialize the sensor.

Reimplemented in AltimeterSensor, ContactSensor, DepthCameraSensor, ForceTorqueSensor, GpsSensor, ImuSensor, LogicalCameraSensor, MagnetometerSensor, RaySensor, RFIDSensor, RFIDTag, SonarSensor, WirelessReceiver, WirelessTransceiver, WirelessTransmitter, CameraSensor, GpuRaySensor, MultiCameraSensor, and WideAngleCameraSensor.

◆ IsActive()

virtual bool IsActive ( ) const

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented in ContactSensor, ForceTorqueSensor, ImuSensor, LogicalCameraSensor, RaySensor, SonarSensor, CameraSensor, GpuRaySensor, and MultiCameraSensor.

◆ LastMeasurementTime()

common::Time LastMeasurementTime ( ) const

Return last measurement time.

Returns: Time of last measurement.

◆ LastUpdateTime()

common::Time LastUpdateTime ( ) const

Return last update time.

Returns: Time of last update.

◆ Load() [1/2]

virtual void Load ( const std::string & _worldName )

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from.

Reimplemented in AltimeterSensor, ContactSensor, DepthCameraSensor, ForceTorqueSensor, GpsSensor, ImuSensor, LogicalCameraSensor, MagnetometerSensor, RaySensor, RFIDSensor, RFIDTag, SonarSensor, WirelessReceiver, WirelessTransceiver, WirelessTransmitter, CameraSensor, GpuRaySensor, MultiCameraSensor, and WideAngleCameraSensor.

◆ Load() [2/2]

virtual void Load	(	const std::string &	_worldName,
		sdf::ElementPtr	_sdf
	)

virtual

Load the sensor with SDF parameters.

Parameters

[in]	_sdf	SDF Sensor parameters.
[in]	_worldName	Name of world to load from.

Reimplemented in AltimeterSensor, ContactSensor, ForceTorqueSensor, GpsSensor, ImuSensor, LogicalCameraSensor, MagnetometerSensor, RFIDSensor, RFIDTag, CameraSensor, and GpuRaySensor.

◆ Name()

std::string Name ( ) const

Get name.

Returns: Name of sensor.

◆ NeedsUpdate()

virtual bool NeedsUpdate ( )

protectedvirtual

Return true if the sensor needs to be updated.

Returns: True when sensor should be updated.

Reimplemented in CameraSensor, GpuRaySensor, and MultiCameraSensor.

◆ NextRequiredTimestamp()

virtual double NextRequiredTimestamp ( ) const

virtual

Get the next timestamp that will be used by the sensor.

Returns: the timestamp

Reimplemented in CameraSensor, GpuRaySensor, and MultiCameraSensor.

◆ Noise()

NoisePtr Noise ( const SensorNoiseType _type ) const

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

◆ ParentId()

uint32_t ParentId ( ) const

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

◆ ParentName()

std::string ParentName ( ) const

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

◆ Pose()

virtual ignition::math::Pose3d Pose ( ) const

virtual

Get the current pose.

Returns: Current pose of the sensor.

See also: SetPose()

◆ ResetLastUpdateTime()

virtual void ResetLastUpdateTime ( )

virtual

Reset the lastUpdateTime to zero.

Reimplemented in CameraSensor, GpuRaySensor, and MultiCameraSensor.

◆ ScopedName()

std::string ScopedName ( ) const

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

◆ SetActive()

virtual void SetActive ( const bool _value )

virtual

Set whether the sensor is active or not.

Parameters

[in] _value True if active, false if not.

Reimplemented in CameraSensor, GpuRaySensor, and MultiCameraSensor.

◆ SetParent()

void SetParent	(	const std::string &	_name,
		const uint32_t	_id
	)

Set the sensor's parent.

Parameters

[in]	_name	The sensor's parent's name.
[in]	_id	The sensor's parent's ID.

◆ SetPose()

virtual void SetPose ( const ignition::math::Pose3d & _pose )

virtual

Set the current pose.

Parameters

[in] _pose New pose of the sensor.

See also: Pose()

◆ SetUpdateRate()

void SetUpdateRate ( const double _hz )

Set the update rate of the sensor.

Parameters

[in] _hz update rate of sensor.

◆ StrictRate()

bool StrictRate ( ) const

Returns true if the sensor is to follow strict update rate.

Returns: True when sensor should follow strict update rate

◆ Topic()

virtual std::string Topic ( ) const

virtual

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented in ForceTorqueSensor, LogicalCameraSensor, RaySensor, SonarSensor, WirelessTransceiver, CameraSensor, GpuRaySensor, and MultiCameraSensor.

◆ Type()

std::string Type ( ) const

Get sensor type.

Returns: Type of sensor.

◆ Update()

virtual void Update ( const bool _force )

virtual

Update the sensor.

Parameters

[in] _force True to force update, false otherwise.

Reimplemented in CameraSensor, and GpuRaySensor.

◆ UpdateImpl()

virtual bool UpdateImpl ( const 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] _force True if update is forced, false if not

Returns: True if the sensor was updated.

Reimplemented in AltimeterSensor, ContactSensor, DepthCameraSensor, ForceTorqueSensor, GpsSensor, ImuSensor, LogicalCameraSensor, MagnetometerSensor, RaySensor, RFIDSensor, RFIDTag, SonarSensor, WirelessReceiver, WirelessTransmitter, CameraSensor, GpuRaySensor, MultiCameraSensor, and WideAngleCameraSensor.

◆ UpdateRate()

double UpdateRate ( ) const

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

◆ Visualize()

bool Visualize ( ) 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.

◆ WorldName()

std::string WorldName ( ) const

Returns the name of the world the sensor is in.

Returns: Name of the world.

Member Data Documentation

◆ active

bool active

protected

True if sensor generation is active.

◆ connections

std::vector<event::ConnectionPtr> connections

protected

All event connections.

◆ lastMeasurementTime

common::Time lastMeasurementTime

protected

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

◆ lastUpdateTime

common::Time lastUpdateTime

protected

Time of the last update.

◆ node

transport::NodePtr node

protected

Node for communication.

◆ nodeIgn

ignition::transport::Node nodeIgn

protected

Ignition transport node.

◆ noises

std::map<SensorNoiseType, NoisePtr> noises

protected

Noise added to sensor data.

◆ parentId

uint32_t parentId

protected

The sensor's parent ID.

◆ parentName

std::string parentName

protected

Name of the parent.

◆ plugins

std::vector<SensorPluginPtr> plugins

protected

All the plugins for the sensor.

◆ pose

ignition::math::Pose3d pose

protected

Pose of the sensor.

◆ scene

gazebo::rendering::ScenePtr scene

protected

Pointer to the Scene.

◆ sdf

sdf::ElementPtr sdf

protected

Pointer the the SDF element for the sensor.

◆ updated

event::EventT<void()> updated

protected

Event triggered when a sensor is updated.

◆ updatePeriod

common::Time updatePeriod

protected

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

◆ useStrictRate

bool useStrictRate

staticprotected

Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for sensor updates to satisfy the desired rate.

static type to avoid breaking ABI and because lockstep setting is global.

◆ world

gazebo::physics::WorldPtr world

protected

Pointer to the world.

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

Sensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Sensor()

◆ ~Sensor()

Member Function Documentation

◆ Category()

◆ ConnectUpdated()

◆ FillMsg()

◆ Fini()

◆ Id()

◆ Init()

◆ IsActive()

◆ LastMeasurementTime()

◆ LastUpdateTime()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Name()

◆ NeedsUpdate()

◆ NextRequiredTimestamp()

◆ Noise()

◆ ParentId()

◆ ParentName()

◆ Pose()

◆ ResetLastUpdateTime()

◆ ScopedName()

◆ SetActive()

◆ SetParent()

◆ SetPose()

◆ SetUpdateRate()

◆ StrictRate()

◆ Topic()

◆ Type()

◆ Update()

◆ UpdateImpl()

◆ UpdateRate()

◆ Visualize()

◆ WorldName()

Member Data Documentation

◆ active

◆ connections

◆ lastMeasurementTime

◆ lastUpdateTime

◆ node

◆ nodeIgn

◆ noises

◆ parentId

◆ parentName

◆ plugins

◆ pose

◆ scene

◆ sdf

◆ updated

◆ updatePeriod

◆ useStrictRate

◆ world