Multiple camera sensor. This sensor type can create one or more synchronized cameras. More...
#include <sensors/sensors.hh>
Inherits Sensor.
Public Member Functions | |
MultiCameraSensor () | |
Constructor. More... | |
virtual | ~MultiCameraSensor () |
Destructor. More... | |
rendering::CameraPtr | Camera (const unsigned int _index) const |
Returns a pointer to a rendering::Camera. More... | |
unsigned int | CameraCount () const |
Get the number of cameras. 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... | |
uint32_t | Id () const |
Get the sensor's ID. More... | |
const unsigned char * | ImageData (const unsigned int _index) |
Gets the raw image data from the sensor. More... | |
unsigned int | ImageHeight (const unsigned int _index) const |
Gets the height of the image in pixels. More... | |
unsigned int | ImageWidth (const unsigned int _index) const |
Gets the width of the image in pixels. 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... | |
double | NextRequiredTimestamp () const override |
Return the next timestamp going to be used by the sensor. 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... | |
bool | SaveFrame (const std::vector< std::string > &_filenames) |
Saves the camera image(s) to the disk. More... | |
std::string | ScopedName () const |
Get fully scoped name of the sensor. More... | |
void | SetActive (bool _value) override |
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... | |
bool | StrictRate () const |
Returns true if the sensor is to follow strict update rate. More... | |
virtual std::string | Topic () const |
Returns the topic name as set in SDF. More... | |
std::string | Type () const |
Get sensor type. More... | |
virtual 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 | |
virtual void | Fini () |
Finalize the sensor. More... | |
bool | NeedsUpdate () override |
Return true if the sensor needs to be updated. More... | |
void | ResetLastUpdateTime () override |
reset timing related members More... | |
virtual bool | UpdateImpl (const bool _force) |
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... | |
event::EventT< void()> | updated |
Event triggered when a sensor is updated. More... | |
common::Time | updatePeriod |
Desired time between updates, set indirectly by Sensor::SetUpdateRate. More... | |
gazebo::physics::WorldPtr | world |
Pointer to the world. More... | |
Static Protected Attributes | |
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... | |
Multiple camera sensor. This sensor type can create one or more synchronized cameras.
Constructor.
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virtual |
Destructor.
rendering::CameraPtr Camera | ( | const unsigned int | _index | ) | const |
Returns a pointer to a rendering::Camera.
[in] | _index | Index of the camera to get |
unsigned int CameraCount | ( | ) | const |
Get the number of cameras.
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inherited |
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Connect a signal that is triggered when the sensor is updated.
[in] | _subscriber | Callback that receives the signal. |
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fills a msgs::Sensor message.
[out] | _msg | Message to fill. |
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Finalize the sensor.
Reimplemented from Sensor.
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Get the sensor's ID.
const unsigned char* ImageData | ( | const unsigned int | _index | ) |
Gets the raw image data from the sensor.
[in] | _index | Index of the camera |
unsigned int ImageHeight | ( | const unsigned int | _index | ) | const |
Gets the height of the image in pixels.
[in] | _index | Index of the camera |
unsigned int ImageWidth | ( | const unsigned int | _index | ) | const |
Gets the width of the image in pixels.
[in] | _index | Index of the camera |
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Initialize the sensor.
Reimplemented from Sensor.
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Returns true if sensor generation is active.
Reimplemented from Sensor.
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Return last measurement time.
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Return last update time.
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Load the sensor with default parameters.
[in] | _worldName | Name of world to load from. |
Reimplemented from Sensor.
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virtualinherited |
Load the sensor with SDF parameters.
[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.
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Get name.
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Return true if the sensor needs to be updated.
Reimplemented from Sensor.
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Return the next timestamp going to be used by the sensor.
Reimplemented from Sensor.
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Get the sensor's noise model for a specified noise type.
[in] | _type | Index of the noise type. Refer to SensorNoiseType enumeration for possible indices |
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Get the sensor's parent's ID.
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Returns the name of the sensor parent.
The parent name is set by Sensor::SetParent.
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overrideprotectedvirtual |
reset timing related members
Reimplemented from Sensor.
bool SaveFrame | ( | const std::vector< std::string > & | _filenames | ) |
Saves the camera image(s) to the disk.
[in] | _filenames | The name of the files for each camera. |
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Get fully scoped name of the sensor.
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Set whether the sensor is active or not.
[in] | _value | True if active, false if not. |
Reimplemented from Sensor.
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Set the sensor's parent.
[in] | _name | The sensor's parent's name. |
[in] | _id | The sensor's parent's ID. |
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Set the update rate of the sensor.
[in] | _hz | update rate of sensor. |
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Returns true if the sensor is to follow strict update rate.
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Get sensor type.
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Update the sensor.
[in] | _force | True to force update, false otherwise. |
Reimplemented in GpuRaySensor, and CameraSensor.
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protectedvirtual |
This gets overwritten by derived sensor types.
This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update
[in] | _force | True if update is forced, false if not |
Reimplemented from Sensor.
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Get the update rate of the sensor.
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Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
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Returns the name of the world the sensor is in.
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protectedinherited |
True if sensor generation is active.
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All event connections.
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Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.
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Time of the last update.
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Node for communication.
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Ignition transport node.
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Noise added to sensor data.
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The sensor's parent ID.
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Name of the parent.
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All the plugins for the sensor.
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Pose of the sensor.
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Pointer to the Scene.
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Pointer the the SDF element for the sensor.
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Event triggered when a sensor is updated.
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Desired time between updates, set indirectly by Sensor::SetUpdateRate.
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staticprotectedinherited |
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.
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protectedinherited |
Pointer to the world.