##

LogicalCameraSensor Class Reference
Sensors

A camera sensor that reports locations of objects instead of rendering a scene. This camera finds models in the sensor's vicinity, and transmits information about the models on the sensor's topic. More...

`#include <sensors/sensors.hh>`

Inherits Sensor.

## Public Member Functions

| LogicalCameraSensor ()
| Constructor. More...
virtual | ~LogicalCameraSensor ()
| Destructor. More...
double | AspectRatio () const
| Get the aspect ratio, which is the width divided by height of the near or far planes. More...
SensorCategory | Category () const
| Get the category of the sensor. More...
event::ConnectionPtr | ConnectUpdated (std::function< void()> _subscriber)
| Connect a signal that is triggered when the sensor is updated. More...
double | Far () const
| Get the far distance. More...
void | FillMsg (msgs::Sensor &_msg)
| fills a msgs::Sensor message. More...
ignition::math::Angle | HorizontalFOV () const
| Get the horizontal field of view. More...
uint32_t | Id () const
| Get the sensor's ID. More...
msgs::LogicalCameraImage | Image () const
| Get the latest image. More...
virtual void | Init ()
| Initialize the sensor. More...
virtual bool | IsActive () const
| Returns true if sensor generation is active. More...
common::Time | LastMeasurementTime () const
| Return last measurement time. More...
common::Time | LastUpdateTime () const
| Return last update time. More...
virtual void | Load (const std::string &_worldName)
| Load the sensor with default parameters. More...
virtual void | Load (const std::string &_worldName, sdf::ElementPtr _sdf)
| Load the sensor with SDF parameters. More...
std::string | Name () const
| Get name. More...
double | Near () const
| Get the near distance. More...
NoisePtr | Noise (const SensorNoiseType _type) const
| Get the sensor's noise model for a specified noise type. More...
uint32_t | ParentId () const
| Get the sensor's parent's ID. More...
std::string | ParentName () const
| Returns the name of the sensor parent. More...
virtual ignition::math::Pose3d | Pose () const
| Get the current pose. More...
void | ResetLastUpdateTime ()
| Reset the lastUpdateTime to zero. More...
std::string | ScopedName () const
| Get fully scoped name of the sensor. More...
virtual void | SetActive (const bool _value)
| Set whether the sensor is active or not. More...
void | SetParent (const std::string &_name, const uint32_t _id)
| Set the sensor's parent. More...
virtual void | SetPose (const ignition::math::Pose3d &_pose)
| Set the current pose. More...
void | SetUpdateRate (const double _hz)
| Set the update rate of the sensor. More...
virtual std::string | Topic () const
| Returns the topic name as set in SDF. More...
std::string | Type () const
| Get sensor type. More...
void | Update (const bool _force)
| Update the sensor. More...
double | UpdateRate () const
| Get the update rate of the sensor. More...
bool | Visualize () const
| Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...
std::string | WorldName () const
| Returns the name of the world the sensor is in. More...

## Protected Member Functions

virtual void | Fini ()
| Finalize the sensor. More...
bool | NeedsUpdate ()
| Return true if the sensor needs to be updated. More...
virtual bool | UpdateImpl (const bool _force)
| This gets overwritten by derived sensor types. More...

## Protected Attributes

bool | active
| True if sensor generation is active. More...
std::vector< event::ConnectionPtr > | connections
| All event connections. More...
common::Time | lastMeasurementTime
| Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl. More...
common::Time | lastUpdateTime
| Time of the last update. More...
transport::NodePtr | node
| Node for communication. More...
ignition::transport::Node | nodeIgn
| Ignition transport node. More...
std::map< SensorNoiseType, NoisePtr > | noises
| Noise added to sensor data. More...
uint32_t | parentId
| The sensor's parent ID. More...
std::string | parentName
| Name of the parent. More...
std::vector< SensorPluginPtr > | plugins
| All the plugins for the sensor. More...
ignition::math::Pose3d | pose
| Pose of the sensor. More...
gazebo::rendering::ScenePtr | scene
| Pointer to the Scene. More...
sdf::ElementPtr | sdf
| Pointer the the SDF element for the sensor. More...
common::Time | updatePeriod
| Desired time between updates, set indirectly by Sensor::SetUpdateRate. More...
gazebo::physics::WorldPtr | world
| Pointer to the world. More...

## Detailed Description

A camera sensor that reports locations of objects instead of rendering a scene. This camera finds models in the sensor's vicinity, and transmits information about the models on the sensor's topic.

## Constructor & Destructor Documentation

## LogicalCameraSensor()

LogicalCameraSensor | ( |  | ) |

Constructor.

## ~LogicalCameraSensor()

virtual ~LogicalCameraSensor | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## AspectRatio()

double AspectRatio | ( |  | ) | const

Get the aspect ratio, which is the width divided by height of the near or far planes.

Returns
  The frustum's aspect ratio.

## Category()

SensorCategory Category | ( |  | ) | const

inherited

Get the category of the sensor.

Returns
  The category of the sensor.

See also
  SensorCategory

## ConnectUpdated()

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

inherited

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

## Far()

double Far | ( |  | ) | const

Get the far distance.

This is the distance from the frustum's vertex to the farthest plane.

Returns
  Far distance.

## FillMsg()

void FillMsg | ( | msgs::Sensor & | _msg | ) |

inherited

fills a msgs::Sensor message.

Parameters

  [out] | _msg | Message to fill.

## Fini()

virtual void Fini | ( |  | ) |

protected virtual

Finalize the sensor.

Reimplemented from Sensor.

## HorizontalFOV()

ignition::math::Angle HorizontalFOV | ( |  | ) | const

Get the horizontal field of view.

The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Returns
  The field of view.

## Id()

uint32_t Id | ( |  | ) | const

inherited

Get the sensor's ID.

Returns
  The sensor's ID.

## Image()

msgs::LogicalCameraImage Image | ( |  | ) | const

Get the latest image.

An image is an instance of msgs::LogicalCameraImage, which contains a list of detected models.

Returns
  List of detected models.

## Init()

virtual void Init | ( |  | ) |

virtual

Initialize the sensor.

Reimplemented from Sensor.

## IsActive()

virtual bool IsActive | ( |  | ) | const

virtual

Returns true if sensor generation is active.

Returns
  True if active, false if not.

Reimplemented from Sensor.

## LastMeasurementTime()

common::Time LastMeasurementTime | ( |  | ) | const

inherited

Return last measurement time.

Returns
  Time of last measurement.

## LastUpdateTime()

common::Time LastUpdateTime | ( |  | ) | const

inherited

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 from Sensor.

## 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 from Sensor.

## Name()

std::string Name | ( |  | ) | const

inherited

Get name.

Returns
  Name of sensor.

## Near()

double Near | ( |  | ) | const

Get the near distance.

This is the distance from the frustum's vertex to the closest plane.

Returns
  Near distance.

## NeedsUpdate()

bool NeedsUpdate | ( |  | ) |

protected inherited

Return true if the sensor needs to be updated.

Returns
  True when sensor should be updated.

## Noise()

NoisePtr Noise | ( | const SensorNoiseType | _type | ) | const

inherited

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

inherited

Get the sensor's parent's ID.

Returns
  The sensor's parent's ID.

## ParentName()

std::string ParentName | ( |  | ) | const

inherited

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 inherited

Get the current pose.

Returns
  Current pose of the sensor.

See also
  SetPose()

## ResetLastUpdateTime()

void ResetLastUpdateTime | ( |  | ) |

inherited

Reset the lastUpdateTime to zero.

## ScopedName()

std::string ScopedName | ( |  | ) | const

inherited

Get fully scoped name of the sensor.

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

## SetActive()

virtual void SetActive | ( | const bool | _value | ) |

virtual inherited

Set whether the sensor is active or not.

Parameters

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

## SetParent()

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

inherited

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 inherited

Set the current pose.

Parameters

  [in] | _pose | New pose of the sensor.

See also
  Pose()

## SetUpdateRate()

void SetUpdateRate | ( | const double | _hz | ) |

inherited

Set the update rate of the sensor.

Parameters

  [in] | _hz | update rate of sensor.

## Topic()

virtual std::string Topic | ( |  | ) | const

virtual

Returns the topic name as set in SDF.

Returns
  Topic name.

Reimplemented from Sensor.

## Type()

std::string Type | ( |  | ) | const

inherited

Get sensor type.

Returns
  Type of sensor.

## Update()

void Update | ( | const bool | _force | ) |

inherited

Update the sensor.

Parameters

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

## UpdateImpl()

virtual bool UpdateImpl | ( | const bool |  | ) |

protected virtual

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 from Sensor.

## UpdateRate()

double UpdateRate | ( |  | ) | const

inherited

Get the update rate of the sensor.

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

## Visualize()

bool Visualize | ( |  | ) | const

inherited

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

inherited

Returns the name of the world the sensor is in.

Returns
  Name of the world.

## Member Data Documentation

## active

bool active

protected inherited

True if sensor generation is active.

## connections

std::vector<event::ConnectionPtr> connections

protected inherited

All event connections.

## lastMeasurementTime

common::Time lastMeasurementTime

protected inherited

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

## lastUpdateTime

common::Time lastUpdateTime

protected inherited

Time of the last update.

## node

transport::NodePtr node

protected inherited

Node for communication.

## nodeIgn

ignition::transport::Node nodeIgn

protected inherited

Ignition transport node.

## noises

std::map<SensorNoiseType, NoisePtr> noises

protected inherited

Noise added to sensor data.

## parentId

uint32_t parentId

protected inherited

The sensor's parent ID.

## parentName

std::string parentName

protected inherited

Name of the parent.

## plugins

std::vector<SensorPluginPtr> plugins

protected inherited

All the plugins for the sensor.

## pose

ignition::math::Pose3d pose

protected inherited

Pose of the sensor.

## scene

gazebo::rendering::ScenePtr scene

protected inherited

Pointer to the Scene.

## sdf

sdf::ElementPtr sdf

protected inherited

Pointer the the SDF element for the sensor.

## updatePeriod

common::Time updatePeriod

protected inherited

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

## world

gazebo::physics::WorldPtr world

protected inherited

Pointer to the world.

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

- LogicalCameraSensor.hh