##

AltimeterSensor Class Reference
Sensors

AltimeterSensor to provide vertical position and velocity. More...

`#include <AltimeterSensor.hh>`

Inherits Sensor.

## Public Member Functions

| AltimeterSensor ()
| Constructor. More...
virtual | ~AltimeterSensor ()
| Destructor. More...
double | Altitude () const
| Accessor for current vertical position. 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...
void | FillMsg (msgs::Sensor &_msg)
| fills a msgs::Sensor message. More...
virtual void | Fini ()
| Finalize the sensor. More...
virtual std::string | GetTopic () const
uint32_t | Id () const
| Get the sensor's ID. 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...
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...
double | ReferenceAltitude () const
| Accessor for the reference altitude. 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 | SetReferenceAltitude (const double _refAlt)
| Accessor for current vertical velocity. 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...
double | VerticalVelocity () const
| Accessor for current vertical velocity. 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

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

AltimeterSensor to provide vertical position and velocity.

## Constructor & Destructor Documentation

## AltimeterSensor()

AltimeterSensor | ( |  | ) |

Constructor.

## ~AltimeterSensor()

virtual ~AltimeterSensor | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## Altitude()

double Altitude | ( |  | ) | const

Accessor for current vertical position.

Returns
  Current vertical position

## 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

## FillMsg()

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

inherited

fills a msgs::Sensor message.

Parameters

  [out] | _msg | Message to fill.

## Fini()

virtual void Fini | ( |  | ) |

virtual

Finalize the sensor.

Reimplemented from Sensor.

## GetTopic()

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

virtual

## Id()

uint32_t Id | ( |  | ) | const

inherited

Get the sensor's ID.

Returns
  The sensor's ID.

## Init()

virtual void Init | ( |  | ) |

virtual

Initialize the sensor.

Reimplemented from Sensor.

## IsActive()

virtual bool IsActive | ( |  | ) | const

virtual inherited

Returns true if sensor generation is active.

Returns
  True if active, false if not.

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

## 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.

## 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()

## ReferenceAltitude()

double ReferenceAltitude | ( |  | ) | const

Accessor for the reference altitude.

Returns
  Current reference altitude

## 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()

## SetReferenceAltitude()

void SetReferenceAltitude | ( | const double | _refAlt | ) |

Accessor for current vertical velocity.

Parameters

  [in] | _refAlt | reference altitude

## 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 inherited

Returns the topic name as set in SDF.

Returns
  Topic name.

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

## 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.

## VerticalVelocity()

double VerticalVelocity | ( |  | ) | const

Accessor for current vertical velocity.

Returns
  Current vertical velocity

## 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:

- AltimeterSensor.hh