##

Sensor Class Reference
Sensors

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, RaySensor, RFIDSensor, RFIDTag, SonarSensor, and WirelessTransceiver.

## Public Member Functions

| Sensor (SensorCategory _cat)
| Constructor. More...
virtual | ~Sensor ()
| Destructor. 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...
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...
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

bool | NeedsUpdate ()
| Return true if the sensor needs to be updated. More...
virtual bool | UpdateImpl (const bool)
| 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

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

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

## IsActive()

virtual bool IsActive | ( |  | ) | const

virtual

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

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

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

## Name()

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

Get name.

Returns
  Name of sensor.

## NeedsUpdate()

bool NeedsUpdate | ( |  | ) |

protected

Return true if the sensor needs to be updated.

Returns
  True when sensor should be updated.

## 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()

void ResetLastUpdateTime | ( |  | ) |

Reset the lastUpdateTime to zero.

## 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.

## 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.

## Topic()

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

virtual

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

Get sensor type.

Returns
  Type of sensor.

## Update()

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

Update the sensor.

Parameters

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

## UpdateImpl()

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

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

## 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.

## updatePeriod

common::Time updatePeriod

protected

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

## world

gazebo::physics::WorldPtr world

protected

Pointer to the world.

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

- Sensor.hh