##

gazebo::sensors Namespace Reference
Sensors

Sensors namespace. More...

## Classes

class | AltimeterSensor
| AltimeterSensor to provide vertical position and velocity. More...
class | CameraSensor
| Basic camera sensor. More...
class | ContactSensor
| Contact sensor. This sensor detects and reports contacts between objects. More...
class | DepthCameraSensor
class | ForceTorqueSensor
| Sensor for measure force and torque on a joint. More...
class | GaussianNoiseModel
| Gaussian noise class. More...
class | GpsSensor
| GpsSensor to provide position measurement. More...
class | GpuRaySensor
| GPU based laser sensor. More...
class | ImageGaussianNoiseModel
class | ImuSensor
| An IMU sensor. More...
class | LogicalCameraSensor
| 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...
class | MagnetometerSensor
| MagnetometerSensor to provide magnetic field measurement. More...
class | MultiCameraSensor
| Multiple camera sensor. This sensor type can create one or more synchronized cameras. More...
class | Noise
| Noise models for sensor output signals. More...
class | NoiseFactory
| Use this noise manager for creating and loading noise models. More...
class | RaySensor
| Sensor with one or more rays. More...
class | RFIDSensor
| Sensor class for RFID type of sensor. More...
class | RFIDTag
| RFIDTag to interact with RFIDTagSensors. More...
class | Sensor
| Base class for sensors. More...
class | SensorFactory
class | SensorManager
| Class to manage and update all sensors. More...
class | SonarSensor
| Sensor with sonar cone. More...
class | WideAngleCameraSensor
| Camera sensor with variable mapping function. More...
class | WirelessReceiver
| Sensor class for receiving wireless signals. More...
class | WirelessTransceiver
| Sensor class for receiving wireless signals. More...
class | WirelessTransmitter
| Transmitter to send wireless signals. More...

## Typedefs

typedef std::vector< AltimeterSensor > | AltimeterSensor_V
typedef std::shared_ptr< AltimeterSensor > | AltimeterSensorPtr
typedef std::vector< CameraSensorPtr > | CameraSensor_V
typedef std::shared_ptr< CameraSensor > | CameraSensorPtr
typedef std::vector< ContactSensorPtr > | ContactSensor_V
typedef std::shared_ptr< ContactSensor > | ContactSensorPtr
typedef std::vector< DepthCameraSensorPtr > | DepthCameraSensor_V
typedef std::shared_ptr< DepthCameraSensor > | DepthCameraSensorPtr
typedef std::shared_ptr< ForceTorqueSensor > | ForceTorqueSensorPtr
typedef std::shared_ptr< GaussianNoiseModel > | GaussianNoiseModelPtr
typedef std::shared_ptr< GpsSensor > | GpsSensorPtr
typedef std::vector< GpuRaySensorPtr > | GpuRaySensor_V
typedef std::shared_ptr< GpuRaySensor > | GpuRaySensorPtr
typedef std::shared_ptr< ImageGaussianNoiseModel > | ImageGaussianNoiseModelPtr
| Shared pointer to Noise. More...
typedef std::vector< ImuSensorPtr > | ImuSensor_V
typedef std::shared_ptr< ImuSensor > | ImuSensorPtr
typedef std::shared_ptr< LogicalCameraSensor > | LogicalCameraSensorPtr
typedef std::shared_ptr< MagnetometerSensor > | MagnetometerSensorPtr
typedef std::vector< MultiCameraSensorPtr > | MultiCameraSensor_V
typedef std::shared_ptr< MultiCameraSensor > | MultiCameraSensorPtr
typedef std::shared_ptr< Noise > | NoisePtr
typedef std::vector< RaySensorPtr > | RaySensor_V
typedef std::shared_ptr< RaySensor > | RaySensorPtr
typedef std::vector< RFIDSensor > | RFIDSensor_V
typedef std::shared_ptr< RFIDSensor > | RFIDSensorPtr
typedef std::vector< RFIDTag > | RFIDTag_V
typedef std::shared_ptr< RFIDTag > | RFIDTagPtr
typedef std::vector< SensorPtr > | Sensor_V
typedef Sensor *(* | SensorFactoryFn) ()
typedef std::shared_ptr< Sensor > | SensorPtr
typedef std::shared_ptr< SonarSensor > | SonarSensorPtr
typedef std::shared_ptr< WideAngleCameraSensor > | WideAngleCameraSensorPtr
typedef std::vector< WirelessReceiver > | WirelessReceiver_V
typedef std::shared_ptr< WirelessReceiver > | WirelessReceiverPtr
typedef std::vector< WirelessTransceiver > | WirelessTransceiver_V
typedef std::shared_ptr< WirelessTransceiver > | WirelessTransceiverPtr
typedef std::vector< WirelessTransmitter > | WirelessTransmitter_V
typedef std::shared_ptr< WirelessTransmitter > | WirelessTransmitterPtr

## Enumerations

enum | SensorCategory { IMAGE = 0, RAY = 1, OTHER = 2, CATEGORY_COUNT = 3 }
| SensorCategory is used to categorize sensors. More...

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
}

## Functions

std::string | create_sensor (sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
| Create a sensor using SDF. More...
void | disable ()
| Disable sensors. More...
void | enable ()
| Enable sensors. More...
bool | fini ()
| shutdown the sensor generation loop. More...
SensorPtr | get_sensor (const std::string &_name)
| Get a sensor using by name. More...
bool | init ()
| initialize the sensor generation loop. More...
bool | load ()
| Load the sensor library. More...
void | remove_sensor (const std::string &_sensorName)
| Remove a sensor by name. More...
bool | remove_sensors ()
| Remove all sensors. More...
void | run_once (bool _force=false)
| Run the sensor generation one step. More...
void | run_threads ()
| Run sensors in a threads. This is a non-blocking call. More...
GAZEBO_VISIBLE bool | running ()
| Return true if the manager is running. More...
void | stop ()
| Stop the sensor generation loop. More...

## Detailed Description

Sensors namespace.

## Typedef Documentation

## AltimeterSensor_V

typedef std::vector<AltimeterSensor> AltimeterSensor_V

## AltimeterSensorPtr

typedef std::shared_ptr<AltimeterSensor> AltimeterSensorPtr

## CameraSensor_V

typedef std::vector<CameraSensorPtr> CameraSensor_V

## CameraSensorPtr

typedef std::shared_ptr<CameraSensor> CameraSensorPtr

## ContactSensor_V

typedef std::vector<ContactSensorPtr> ContactSensor_V

## ContactSensorPtr

typedef std::shared_ptr<ContactSensor> ContactSensorPtr

## DepthCameraSensor_V

typedef std::vector<DepthCameraSensorPtr> DepthCameraSensor_V

## DepthCameraSensorPtr

typedef std::shared_ptr<DepthCameraSensor> DepthCameraSensorPtr

## ForceTorqueSensorPtr

typedef std::shared_ptr<ForceTorqueSensor> ForceTorqueSensorPtr

## GaussianNoiseModelPtr

typedef std::shared_ptr<GaussianNoiseModel> GaussianNoiseModelPtr

## GpsSensorPtr

typedef std::shared_ptr<GpsSensor> GpsSensorPtr

## GpuRaySensor_V

typedef std::vector<GpuRaySensorPtr> GpuRaySensor_V

## GpuRaySensorPtr

typedef std::shared_ptr<GpuRaySensor> GpuRaySensorPtr

## ImageGaussianNoiseModelPtr

typedef std::shared_ptr<ImageGaussianNoiseModel> ImageGaussianNoiseModelPtr

Shared pointer to Noise.

## ImuSensor_V

typedef std::vector<ImuSensorPtr> ImuSensor_V

## ImuSensorPtr

typedef std::shared_ptr<ImuSensor> ImuSensorPtr

## LogicalCameraSensorPtr

typedef std::shared_ptr<LogicalCameraSensor> LogicalCameraSensorPtr

## MagnetometerSensorPtr

typedef std::shared_ptr<MagnetometerSensor> MagnetometerSensorPtr

## MultiCameraSensor_V

typedef std::vector<MultiCameraSensorPtr> MultiCameraSensor_V

## MultiCameraSensorPtr

typedef std::shared_ptr<MultiCameraSensor> MultiCameraSensorPtr

## NoisePtr

typedef std::shared_ptr<Noise> NoisePtr

## RaySensor_V

typedef std::vector<RaySensorPtr> RaySensor_V

## RaySensorPtr

typedef std::shared_ptr<RaySensor> RaySensorPtr

## RFIDSensor_V

typedef std::vector<RFIDSensor> RFIDSensor_V

## RFIDSensorPtr

typedef std::shared_ptr<RFIDSensor> RFIDSensorPtr

## RFIDTag_V

typedef std::vector<RFIDTag> RFIDTag_V

## RFIDTagPtr

typedef std::shared_ptr<RFIDTag> RFIDTagPtr

## Sensor_V

typedef std::vector<SensorPtr> Sensor_V

## SensorFactoryFn

typedef Sensor*(* SensorFactoryFn) ()

## SensorPtr

typedef std::shared_ptr<Sensor> SensorPtr

## SonarSensorPtr

typedef std::shared_ptr<SonarSensor> SonarSensorPtr

## WideAngleCameraSensorPtr

typedef std::shared_ptr<WideAngleCameraSensor> WideAngleCameraSensorPtr

## WirelessReceiver_V

typedef std::vector<WirelessReceiver> WirelessReceiver_V

## WirelessReceiverPtr

typedef std::shared_ptr<WirelessReceiver> WirelessReceiverPtr

## WirelessTransceiver_V

typedef std::vector<WirelessTransceiver> WirelessTransceiver_V

## WirelessTransceiverPtr

typedef std::shared_ptr<WirelessTransceiver> WirelessTransceiverPtr

## WirelessTransmitter_V

typedef std::vector<WirelessTransmitter> WirelessTransmitter_V

## WirelessTransmitterPtr

typedef std::shared_ptr<WirelessTransmitter> WirelessTransmitterPtr

## Enumeration Type Documentation

## SensorCategory

enum SensorCategory

SensorCategory is used to categorize sensors.

This is used to put sensors into different threads.

Enumerator
IMAGE | Image based sensor class. This type requires the rendering engine.
RAY | Ray based sensor class.
OTHER | A type of sensor is not a RAY or IMAGE sensor.
CATEGORY_COUNT | Number of Sensor Categories.

## SensorNoiseType

enum SensorNoiseType

Enumerator
SENSOR_NOISE_TYPE_BEGIN |

NO_NOISE

Noise streams for the Camera sensor.

See also
  CameraSensor

CAMERA_NOISE

Noise streams for the Camera sensor.

See also
  CameraSensor

GPU_RAY_NOISE

Noise streams for the GPU ray sensor.

See also
  GpuRaySensor

GPS_POSITION_LATITUDE_NOISE_METERS

GPS position latitude noise streams.

See also
  GpsSensor

GPS_POSITION_LONGITUDE_NOISE_METERS

GPS position longitude noise streams.

See also
  GpsSensor

GPS_POSITION_ALTITUDE_NOISE_METERS

GPS position altitude noise streams.

See also
  GpsSensor

GPS_VELOCITY_LATITUDE_NOISE_METERS

GPS velocity latitude noise streams.

See also
  GpsSensor

GPS_VELOCITY_LONGITUDE_NOISE_METERS

GPS velocity longitude noise streams.

See also
  GpsSensor

GPS_VELOCITY_ALTITUDE_NOISE_METERS

GPS velocity altitude noise streams.

See also
  GpsSensor

RAY_NOISE

Noise streams for the ray sensor.

See also
  RaySensor

MAGNETOMETER_X_NOISE_TESLA

Magnetometer body-frame X axis noise in Tesla.

See also
  MagnetometerSensor

MAGNETOMETER_Y_NOISE_TESLA

Magnetometer body-frame Y axis noise in Tesla.

See also
  MagnetometerSensor

MAGNETOMETER_Z_NOISE_TESLA

Magnetometer body-frame Z axis noise in Tesla.

See also
  MagnetometerSensor

ALTIMETER_POSITION_NOISE_METERS

Vertical noise stream for the altimeter sensor.

See also
  AltimeterSensor

ALTIMETER_VELOCITY_NOISE_METERS_PER_S

Velocity noise streams for the altimeter sensor.

See also
  AltimeterSensor

IMU_ANGVEL_X_NOISE_RADIANS_PER_S

IMU angular velocity X noise stream.

See also
  ImuSensor

IMU_ANGVEL_Y_NOISE_RADIANS_PER_S

IMU angular velocity Y noise stream.

See also
  ImuSensor

IMU_ANGVEL_Z_NOISE_RADIANS_PER_S

IMU angular velocity Z noise stream.

See also
  ImuSensor

IMU_LINACC_X_NOISE_METERS_PER_S_SQR

IMU linear acceleration X noise stream.

See also
  ImuSensor

IMU_LINACC_Y_NOISE_METERS_PER_S_SQR

IMU linear acceleration Y noise stream.

See also
  ImuSensor

IMU_LINACC_Z_NOISE_METERS_PER_S_SQR

IMU linear acceleration Z noise stream.

See also
  ImuSensor

SENSOR_NOISE_TYPE_END |