Base class for sensors.
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#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.
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static bool | useStrictRate |
| Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for sensor updates to satisfy the desired rate. More...
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◆ Sensor()
Constructor.
- Parameters
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[in] | _cat | Category of the sensor |
◆ ~Sensor()
◆ Category()
Get the category of the sensor.
- Returns
- The category of the sensor.
- See also
- SensorCategory
◆ ConnectUpdated()
Connect a signal that is triggered when the sensor is updated.
- Parameters
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[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 |
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msgs::Sensor & |
_msg | ) |
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fills a msgs::Sensor message.
- Parameters
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[out] | _msg | Message to fill. |
◆ Fini()
Finalize the sensor.
Reimplemented in CameraSensor, GpuRaySensor, WideAngleCameraSensor, MultiCameraSensor, SonarSensor, LogicalCameraSensor, ForceTorqueSensor, ContactSensor, RaySensor, AltimeterSensor, RFIDSensor, MagnetometerSensor, GpsSensor, ImuSensor, RFIDTag, WirelessTransceiver, and WirelessReceiver.
◆ Id()
Get the sensor's ID.
- Returns
- The sensor's ID.
◆ Init()
Initialize the sensor.
Reimplemented in GpuRaySensor, CameraSensor, WideAngleCameraSensor, ContactSensor, RaySensor, ForceTorqueSensor, AltimeterSensor, GpsSensor, LogicalCameraSensor, RFIDSensor, MagnetometerSensor, MultiCameraSensor, ImuSensor, RFIDTag, SonarSensor, WirelessTransmitter, DepthCameraSensor, WirelessTransceiver, and WirelessReceiver.
◆ IsActive()
virtual bool IsActive |
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const |
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◆ LastMeasurementTime()
Return last measurement time.
- Returns
- Time of last measurement.
◆ LastUpdateTime()
Return last update time.
- Returns
- Time of last update.
◆ Load() [1/2]
virtual void Load |
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const std::string & |
_worldName | ) |
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virtual |
Load the sensor with default parameters.
- Parameters
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[in] | _worldName | Name of world to load from. |
Reimplemented in GpuRaySensor, CameraSensor, WideAngleCameraSensor, DepthCameraSensor, ContactSensor, RaySensor, ForceTorqueSensor, AltimeterSensor, GpsSensor, LogicalCameraSensor, RFIDSensor, MagnetometerSensor, MultiCameraSensor, ImuSensor, RFIDTag, SonarSensor, WirelessTransmitter, WirelessTransceiver, and WirelessReceiver.
◆ Load() [2/2]
virtual void Load |
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const std::string & |
_worldName, |
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sdf::ElementPtr |
_sdf |
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) |
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virtual |
Load the sensor with SDF parameters.
- Parameters
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[in] | _sdf | SDF Sensor parameters. |
[in] | _worldName | Name of world to load from. |
Reimplemented in GpuRaySensor, CameraSensor, ContactSensor, ForceTorqueSensor, AltimeterSensor, GpsSensor, LogicalCameraSensor, RFIDSensor, ImuSensor, MagnetometerSensor, and RFIDTag.
◆ Name()
std::string Name |
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const |
Get name.
- Returns
- Name of sensor.
◆ NeedsUpdate()
virtual bool NeedsUpdate |
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protectedvirtual |
◆ NextRequiredTimestamp()
virtual double NextRequiredTimestamp |
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const |
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◆ Noise()
Get the sensor's noise model for a specified noise type.
- Parameters
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[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 |
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const |
Get the sensor's parent's ID.
- Returns
- The sensor's parent's ID.
◆ ParentName()
std::string ParentName |
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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 |
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const |
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virtual |
Get the current pose.
- Returns
- Current pose of the sensor.
- See also
- SetPose()
◆ ResetLastUpdateTime()
virtual void ResetLastUpdateTime |
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◆ ScopedName()
std::string ScopedName |
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const |
Get fully scoped name of the sensor.
- Returns
- world_name::model_name::link_name::sensor_name.
◆ SetActive()
virtual void SetActive |
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const bool |
_value | ) |
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virtual |
◆ SetParent()
void SetParent |
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const std::string & |
_name, |
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const uint32_t |
_id |
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) |
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Set the sensor's parent.
- Parameters
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[in] | _name | The sensor's parent's name. |
[in] | _id | The sensor's parent's ID. |
◆ SetPose()
virtual void SetPose |
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const ignition::math::Pose3d & |
_pose | ) |
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virtual |
Set the current pose.
- Parameters
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[in] | _pose | New pose of the sensor. |
- See also
- Pose()
◆ SetUpdateRate()
void SetUpdateRate |
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const double |
_hz | ) |
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Set the update rate of the sensor.
- Parameters
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[in] | _hz | update rate of sensor. |
◆ StrictRate()
bool StrictRate |
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const |
Returns true if the sensor is to follow strict update rate.
- Returns
- True when sensor should follow strict update rate
◆ Topic()
virtual std::string Topic |
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const |
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virtual |
◆ Type()
std::string Type |
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const |
Get sensor type.
- Returns
- Type of sensor.
◆ Update()
virtual void Update |
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const bool |
_force | ) |
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virtual |
Update the sensor.
- Parameters
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[in] | _force | True to force update, false otherwise. |
Reimplemented in GpuRaySensor, and CameraSensor.
◆ UpdateImpl()
virtual bool UpdateImpl |
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const bool |
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inlineprotectedvirtual |
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
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[in] | _force | True if update is forced, false if not |
- Returns
- True if the sensor was updated.
Reimplemented in CameraSensor, GpuRaySensor, WideAngleCameraSensor, MultiCameraSensor, SonarSensor, LogicalCameraSensor, ForceTorqueSensor, WirelessReceiver, ContactSensor, DepthCameraSensor, RaySensor, AltimeterSensor, RFIDSensor, MagnetometerSensor, GpsSensor, ImuSensor, RFIDTag, and WirelessTransmitter.
◆ UpdateRate()
double UpdateRate |
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const |
Get the update rate of the sensor.
- Returns
- _hz update rate of sensor. Returns 0 if unthrottled.
◆ Visualize()
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 |
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const |
Returns the name of the world the sensor is in.
- Returns
- Name of the world.
◆ active
True if sensor generation is active.
◆ connections
◆ lastMeasurementTime
Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.
◆ lastUpdateTime
◆ node
◆ nodeIgn
ignition::transport::Node nodeIgn |
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protected |
◆ noises
Noise added to sensor data.
◆ parentId
◆ parentName
◆ plugins
All the plugins for the sensor.
◆ pose
ignition::math::Pose3d pose |
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protected |
◆ scene
◆ sdf
Pointer the the SDF element for the sensor.
◆ updated
Event triggered when a sensor is updated.
◆ updatePeriod
◆ useStrictRate
Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for sensor updates to satisfy the desired rate.
static type to avoid breaking ABI and because lockstep setting is global.
◆ world
The documentation for this class was generated from the following file: