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WirelessTransceiver.hh
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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _GAZEBO_SENSORS_WIRELESSTRANSCEIVER_HH_
#define _GAZEBO_SENSORS_WIRELESSTRANSCEIVER_HH_
#include <string>
#include <ignition/math/Pose3.hh>
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace sensors
{
class GZ_SENSORS_VISIBLE WirelessTransceiver: public Sensor
{
public: WirelessTransceiver();
public: ~WirelessTransceiver();
// Documentation inherited
public: virtual std::string Topic() const;
// Documentation inherited
public: virtual void Load(const std::string &_worldName);
// Documentation inherited
public: virtual void Init();
// Documentation inherited
public: virtual void Fini();
public: double Gain() const;
public: double Power() const;
protected: transport::PublisherPtr pub;
protected: double power = 14.5;
protected: double gain = 2.5;
protected: boost::weak_ptr<physics::Link> parentEntity;
protected: ignition::math::Pose3d referencePose;
};
}
}
#endif
gazebo::sensors::WirelessTransceiver::power
double power
Receiver's power (dBm).
Definition: WirelessTransceiver.hh:69
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
sensors
sensors
Definition: SensorManager.hh:35
gazebo::transport::PublisherPtr
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
TransportTypes.hh
Forward declarations for transport.
system.hh
gazebo::sensors::WirelessTransceiver::WirelessTransceiver
WirelessTransceiver()
Constructor.
gazebo::sensors::WirelessTransceiver::pub
transport::PublisherPtr pub
Publisher to publish propagation model data.
Definition: WirelessTransceiver.hh:66
PhysicsTypes.hh
default namespace for gazebo
gazebo::sensors::WirelessTransceiver::Load
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
gazebo::sensors::WirelessTransceiver::Power
double Power() const
Returns the receiver power (dBm).
Sensor.hh
gazebo::sensors::WirelessTransceiver::parentEntity
boost::weak_ptr< physics::Link > parentEntity
Parent entity which the sensor is attached to.
Definition: WirelessTransceiver.hh:75
gazebo::sensors::WirelessTransceiver::~WirelessTransceiver
~WirelessTransceiver()
Constructor.
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::sensors::WirelessTransceiver::Topic
virtual std::string Topic() const
Returns the topic name as set in SDF.
gazebo::sensors::WirelessTransceiver::Init
virtual void Init()
Initialize the sensor.
gazebo::sensors::Sensor
Base class for sensors.
Definition: Sensor.hh:51
gazebo::sensors::WirelessTransceiver::referencePose
ignition::math::Pose3d referencePose
Sensor reference pose.
Definition: WirelessTransceiver.hh:78
gazebo::sensors::WirelessTransceiver::Fini
virtual void Fini()
Finalize the sensor.
gazebo::sensors::WirelessTransceiver
Sensor class for receiving wireless signals.
Definition: WirelessTransceiver.hh:37
gazebo::sensors::WirelessTransceiver::Gain
double Gain() const
Returns the antenna's gain of the receiver (dBi).
gazebo::sensors::WirelessTransceiver::gain
double gain
Antenna's gain of the receiver (dBi).
Definition: WirelessTransceiver.hh:72