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SensorTypes.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_SENSORTYPES_HH_
#define _GAZEBO_SENSORS_SENSORTYPES_HH_
#include <vector>
#include <memory>
#include "gazebo/util/system.hh"
#include "gazebo/common/EnumIface.hh"
namespace gazebo
{
namespace sensors
{
class AltimeterSensor;
class Sensor;
class RaySensor;
class CameraSensor;
class LogicalCameraSensor;
class MagnetometerSensor;
class MultiCameraSensor;
class DepthCameraSensor;
class ContactSensor;
class ImuSensor;
class GpuRaySensor;
class RFIDSensor;
class RFIDTag;
class SonarSensor;
class ForceTorqueSensor;
class GpsSensor;
class Noise;
class GaussianNoiseModel;
class ImageGaussianNoiseModel;
class WideAngleCameraSensor;
class WirelessTransceiver;
class WirelessTransmitter;
class WirelessReceiver;
typedef std::shared_ptr<AltimeterSensor> AltimeterSensorPtr;
typedef std::shared_ptr<Sensor> SensorPtr;
typedef std::shared_ptr<RaySensor> RaySensorPtr;
typedef std::shared_ptr<CameraSensor> CameraSensorPtr;
typedef std::shared_ptr<MagnetometerSensor> MagnetometerSensorPtr;
typedef std::shared_ptr<MultiCameraSensor> MultiCameraSensorPtr;
typedef std::shared_ptr<DepthCameraSensor> DepthCameraSensorPtr;
typedef std::shared_ptr<WideAngleCameraSensor> WideAngleCameraSensorPtr;
typedef std::shared_ptr<ContactSensor> ContactSensorPtr;
typedef std::shared_ptr<ImuSensor> ImuSensorPtr;
typedef std::shared_ptr<GpuRaySensor> GpuRaySensorPtr;
typedef std::shared_ptr<RFIDSensor> RFIDSensorPtr;
typedef std::shared_ptr<RFIDTag> RFIDTagPtr;
typedef std::shared_ptr<SonarSensor> SonarSensorPtr;
typedef std::shared_ptr<ForceTorqueSensor> ForceTorqueSensorPtr;
typedef std::shared_ptr<GpsSensor> GpsSensorPtr;
typedef std::shared_ptr<Noise> NoisePtr;
typedef std::shared_ptr<GaussianNoiseModel> GaussianNoiseModelPtr;
typedef std::shared_ptr<ImageGaussianNoiseModel>
ImageGaussianNoiseModelPtr;
typedef std::shared_ptr<WirelessTransceiver> WirelessTransceiverPtr;
typedef std::shared_ptr<WirelessTransmitter> WirelessTransmitterPtr;
typedef std::shared_ptr<WirelessReceiver> WirelessReceiverPtr;
typedef std::vector<AltimeterSensor> AltimeterSensor_V;
typedef std::vector<SensorPtr> Sensor_V;
typedef std::vector<RaySensorPtr> RaySensor_V;
typedef std::vector<CameraSensorPtr> CameraSensor_V;
typedef std::vector<MultiCameraSensorPtr> MultiCameraSensor_V;
typedef std::vector<DepthCameraSensorPtr> DepthCameraSensor_V;
typedef std::vector<ContactSensorPtr> ContactSensor_V;
typedef std::vector<ImuSensorPtr> ImuSensor_V;
typedef std::vector<GpuRaySensorPtr> GpuRaySensor_V;
typedef std::vector<RFIDSensor> RFIDSensor_V;
typedef std::vector<RFIDTag> RFIDTag_V;
typedef std::vector<WirelessTransceiver> WirelessTransceiver_V;
typedef std::vector<WirelessTransmitter> WirelessTransmitter_V;
typedef std::vector<WirelessReceiver> WirelessReceiver_V;
typedef std::shared_ptr<LogicalCameraSensor> LogicalCameraSensorPtr;
enum SensorNoiseType
{
SENSOR_NOISE_TYPE_BEGIN = 0,
NO_NOISE = SENSOR_NOISE_TYPE_BEGIN,
CAMERA_NOISE = 1,
GPU_RAY_NOISE = 2,
GPS_POSITION_LATITUDE_NOISE_METERS = 3,
GPS_POSITION_LONGITUDE_NOISE_METERS = 4,
GPS_POSITION_ALTITUDE_NOISE_METERS = 5,
GPS_VELOCITY_LATITUDE_NOISE_METERS = 6,
GPS_VELOCITY_LONGITUDE_NOISE_METERS = 7,
GPS_VELOCITY_ALTITUDE_NOISE_METERS = 8,
RAY_NOISE = 9,
MAGNETOMETER_X_NOISE_TESLA = 10,
MAGNETOMETER_Y_NOISE_TESLA = 11,
MAGNETOMETER_Z_NOISE_TESLA = 12,
ALTIMETER_POSITION_NOISE_METERS = 13,
ALTIMETER_VELOCITY_NOISE_METERS_PER_S = 14,
IMU_ANGVEL_X_NOISE_RADIANS_PER_S = 15,
IMU_ANGVEL_Y_NOISE_RADIANS_PER_S = 16,
IMU_ANGVEL_Z_NOISE_RADIANS_PER_S = 17,
IMU_LINACC_X_NOISE_METERS_PER_S_SQR = 18,
IMU_LINACC_Y_NOISE_METERS_PER_S_SQR = 19,
IMU_LINACC_Z_NOISE_METERS_PER_S_SQR = 20,
SENSOR_NOISE_TYPE_END
};
enum SensorCategory
{
// IMAGE must be the first element, and it must start with 0. Do not
// change this! See SensorManager::sensorContainers for reference.
IMAGE = 0,
RAY = 1,
OTHER = 2,
CATEGORY_COUNT = 3
};
}
}
#endif
gazebo::sensors::CameraSensorPtr
std::shared_ptr< CameraSensor > CameraSensorPtr
Definition: SensorTypes.hh:72
gazebo::sensors::CAMERA_NOISE
Noise streams for the Camera sensor.
Definition: SensorTypes.hh:221
gazebo::sensors::GPS_VELOCITY_LATITUDE_NOISE_METERS
GPS velocity latitude noise streams.
Definition: SensorTypes.hh:241
gazebo::sensors::SensorPtr
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
gazebo::sensors::WirelessReceiverPtr
std::shared_ptr< WirelessReceiver > WirelessReceiverPtr
Definition: SensorTypes.hh:144
gazebo::sensors::ContactSensor_V
std::vector< ContactSensorPtr > ContactSensor_V
Definition: SensorTypes.hh:172
gazebo::sensors::MultiCameraSensor_V
std::vector< MultiCameraSensorPtr > MultiCameraSensor_V
Definition: SensorTypes.hh:164
gazebo::sensors::CameraSensor_V
std::vector< CameraSensorPtr > CameraSensor_V
Definition: SensorTypes.hh:160
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::sensors::RFIDSensorPtr
std::shared_ptr< RFIDSensor > RFIDSensorPtr
Definition: SensorTypes.hh:104
gazebo::sensors::GPS_POSITION_LATITUDE_NOISE_METERS
GPS position latitude noise streams.
Definition: SensorTypes.hh:229
gazebo::sensors::GpsSensorPtr
std::shared_ptr< GpsSensor > GpsSensorPtr
Definition: SensorTypes.hh:120
gazebo::sensors::RFIDTag_V
std::vector< RFIDTag > RFIDTag_V
Definition: SensorTypes.hh:188
gazebo::sensors::DepthCameraSensorPtr
std::shared_ptr< DepthCameraSensor > DepthCameraSensorPtr
Definition: SensorTypes.hh:84
gazebo::sensors::AltimeterSensor_V
std::vector< AltimeterSensor > AltimeterSensor_V
Definition: SensorTypes.hh:148
sensors
sensors
Definition: SensorManager.hh:35
gazebo::sensors::Sensor_V
std::vector< SensorPtr > Sensor_V
Definition: SensorTypes.hh:152
gazebo::sensors::OTHER
A type of sensor is not a RAY or IMAGE sensor.
Definition: SensorTypes.hh:320
gazebo::sensors::GaussianNoiseModelPtr
std::shared_ptr< GaussianNoiseModel > GaussianNoiseModelPtr
Definition: SensorTypes.hh:128
gazebo::sensors::GPU_RAY_NOISE
Noise streams for the GPU ray sensor.
Definition: SensorTypes.hh:225
gazebo::sensors::WirelessTransceiver_V
std::vector< WirelessTransceiver > WirelessTransceiver_V
Definition: SensorTypes.hh:192
system.hh
gazebo::sensors::RaySensor_V
std::vector< RaySensorPtr > RaySensor_V
Definition: SensorTypes.hh:156
gazebo::sensors::WirelessTransceiverPtr
std::shared_ptr< WirelessTransceiver > WirelessTransceiverPtr
Definition: SensorTypes.hh:136
gazebo::sensors::GpuRaySensorPtr
std::shared_ptr< GpuRaySensor > GpuRaySensorPtr
Definition: SensorTypes.hh:100
gazebo::sensors::RaySensorPtr
std::shared_ptr< RaySensor > RaySensorPtr
Definition: SensorTypes.hh:68
gazebo::sensors::AltimeterSensorPtr
std::shared_ptr< AltimeterSensor > AltimeterSensorPtr
Definition: SensorTypes.hh:60
gazebo::sensors::RFIDTagPtr
std::shared_ptr< RFIDTag > RFIDTagPtr
Definition: SensorTypes.hh:108
gazebo::sensors::GPS_POSITION_ALTITUDE_NOISE_METERS
GPS position altitude noise streams.
Definition: SensorTypes.hh:237
gazebo::sensors::SENSOR_NOISE_TYPE_END
Definition: SensorTypes.hh:302
gazebo::sensors::GPS_VELOCITY_ALTITUDE_NOISE_METERS
GPS velocity altitude noise streams.
Definition: SensorTypes.hh:249
gazebo::sensors::IMU_LINACC_Z_NOISE_METERS_PER_S_SQR
IMU linear acceleration Z noise stream.
Definition: SensorTypes.hh:297
gazebo::sensors::SENSOR_NOISE_TYPE_BEGIN
Definition: SensorTypes.hh:213
gazebo::sensors::MultiCameraSensorPtr
std::shared_ptr< MultiCameraSensor > MultiCameraSensorPtr
Definition: SensorTypes.hh:80
gazebo::sensors::ALTIMETER_VELOCITY_NOISE_METERS_PER_S
Velocity noise streams for the altimeter sensor.
Definition: SensorTypes.hh:273
gazebo::sensors::RFIDSensor_V
std::vector< RFIDSensor > RFIDSensor_V
Definition: SensorTypes.hh:184
gazebo::sensors::IMU_ANGVEL_X_NOISE_RADIANS_PER_S
IMU angular velocity X noise stream.
Definition: SensorTypes.hh:277
gazebo::sensors::ImuSensorPtr
std::shared_ptr< ImuSensor > ImuSensorPtr
Definition: SensorTypes.hh:96
gazebo::sensors::IMAGE
Image based sensor class.
Definition: SensorTypes.hh:314
gazebo::sensors::CATEGORY_COUNT
Number of Sensor Categories.
Definition: SensorTypes.hh:323
gazebo::sensors::SonarSensorPtr
std::shared_ptr< SonarSensor > SonarSensorPtr
Definition: SensorTypes.hh:112
gazebo::sensors::RAY_NOISE
Noise streams for the ray sensor.
Definition: SensorTypes.hh:253
gazebo::sensors::MAGNETOMETER_Y_NOISE_TESLA
Magnetometer body-frame Y axis noise in Tesla.
Definition: SensorTypes.hh:261
gazebo::sensors::MagnetometerSensorPtr
std::shared_ptr< MagnetometerSensor > MagnetometerSensorPtr
Definition: SensorTypes.hh:76
gazebo::sensors::NO_NOISE
Noise streams for the Camera sensor.
Definition: SensorTypes.hh:217
gazebo::sensors::SensorNoiseType
SensorNoiseType
Definition: SensorTypes.hh:208
gazebo::sensors::ContactSensorPtr
std::shared_ptr< ContactSensor > ContactSensorPtr
Definition: SensorTypes.hh:92
gazebo::sensors::MAGNETOMETER_X_NOISE_TESLA
Magnetometer body-frame X axis noise in Tesla.
Definition: SensorTypes.hh:257
gazebo::sensors::ALTIMETER_POSITION_NOISE_METERS
Vertical noise stream for the altimeter sensor.
Definition: SensorTypes.hh:269
gazebo::sensors::WirelessReceiver_V
std::vector< WirelessReceiver > WirelessReceiver_V
Definition: SensorTypes.hh:200
gazebo::sensors::WideAngleCameraSensorPtr
std::shared_ptr< WideAngleCameraSensor > WideAngleCameraSensorPtr
Definition: SensorTypes.hh:88
gazebo::sensors::IMU_LINACC_Y_NOISE_METERS_PER_S_SQR
IMU linear acceleration Y noise stream.
Definition: SensorTypes.hh:293
EnumIface.hh
gazebo::sensors::LogicalCameraSensorPtr
std::shared_ptr< LogicalCameraSensor > LogicalCameraSensorPtr
Definition: SensorTypes.hh:204
gazebo::sensors::WirelessTransmitter_V
std::vector< WirelessTransmitter > WirelessTransmitter_V
Definition: SensorTypes.hh:196
gazebo::sensors::IMU_LINACC_X_NOISE_METERS_PER_S_SQR
IMU linear acceleration X noise stream.
Definition: SensorTypes.hh:289
gazebo::sensors::WirelessTransmitterPtr
std::shared_ptr< WirelessTransmitter > WirelessTransmitterPtr
Definition: SensorTypes.hh:140
gazebo::sensors::ImuSensor_V
std::vector< ImuSensorPtr > ImuSensor_V
Definition: SensorTypes.hh:176
gazebo::sensors::GpuRaySensor_V
std::vector< GpuRaySensorPtr > GpuRaySensor_V
Definition: SensorTypes.hh:180
gazebo::sensors::NoisePtr
std::shared_ptr< Noise > NoisePtr
Definition: SensorTypes.hh:124
gazebo::sensors::RAY
Ray based sensor class.
Definition: SensorTypes.hh:317
gazebo::sensors::MAGNETOMETER_Z_NOISE_TESLA
Magnetometer body-frame Z axis noise in Tesla.
Definition: SensorTypes.hh:265
gazebo::sensors::SensorCategory
SensorCategory
SensorCategory is used to categorize sensors.
Definition: SensorTypes.hh:308
gazebo::sensors::ImageGaussianNoiseModelPtr
std::shared_ptr< ImageGaussianNoiseModel > ImageGaussianNoiseModelPtr
Shared pointer to Noise.
Definition: SensorTypes.hh:132
gazebo::sensors::IMU_ANGVEL_Z_NOISE_RADIANS_PER_S
IMU angular velocity Z noise stream.
Definition: SensorTypes.hh:285
gazebo::sensors::GPS_VELOCITY_LONGITUDE_NOISE_METERS
GPS velocity longitude noise streams.
Definition: SensorTypes.hh:245
gazebo::sensors::DepthCameraSensor_V
std::vector< DepthCameraSensorPtr > DepthCameraSensor_V
Definition: SensorTypes.hh:168
gazebo::sensors::GPS_POSITION_LONGITUDE_NOISE_METERS
GPS position longitude noise streams.
Definition: SensorTypes.hh:233
gazebo::sensors::ForceTorqueSensorPtr
std::shared_ptr< ForceTorqueSensor > ForceTorqueSensorPtr
Definition: SensorTypes.hh:116
gazebo::sensors::IMU_ANGVEL_Y_NOISE_RADIANS_PER_S
IMU angular velocity Y noise stream.
Definition: SensorTypes.hh:281