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17 #ifndef _GAZEBO_SENSORS_RAYSENSOR_HH_
18 #define _GAZEBO_SENSORS_RAYSENSOR_HH_
24 #include <ignition/math/Angle.hh>
31 class OgreDynamicLines;
40 class RaySensorPrivate;
60 public:
virtual void Load(
const std::string &_worldName);
63 public:
virtual void Init();
69 protected:
virtual void Fini();
72 public:
virtual std::string
Topic()
const;
76 public: ignition::math::Angle
AngleMin()
const;
80 public: ignition::math::Angle
AngleMax()
const;
135 public:
double Range(
const unsigned int _index)
const;
139 public:
void Ranges(std::vector<double> &_ranges)
const;
150 public:
double Retro(
const unsigned int _index)
const;
161 public:
int Fiducial(
const unsigned int _index)
const;
172 private: std::unique_ptr<RaySensorPrivate> dataPtr;
virtual bool IsActive() const
Returns true if sensor generation is active.
double Range(const unsigned int _index) const
Get detected range for a ray.
virtual ~RaySensor()
Destructor.
Forward declarations for the common classes.
Definition: Animation.hh:27
ignition::math::Angle VerticalAngleMax() const
Get the vertical scan line top angle.
sensors
Definition: SensorManager.hh:37
virtual void Init()
Initialize the sensor.
double AngleResolution() const
Get the angle in radians between each range.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
void Ranges(std::vector< double > &_ranges) const
Get all the ranges.
ignition::math::Angle VerticalAngleMin() const
Get the vertical scan bottom angle.
int VerticalRangeCount() const
Get the vertical scan line count.
ignition::math::Angle AngleMin() const
Get the minimum angle.
virtual std::string Topic() const
Returns the topic name as set in SDF.
Sensor with one or more rays.
Definition: RaySensor.hh:52
double RangeMax() const
Get the maximum range.
virtual void Fini()
Finalize the sensor.
int RayCount() const
Get the ray count.
double RangeMin() const
Get the minimum range.
double VerticalAngleResolution() const
Get the vertical angle in radians between each range.
int Fiducial(const unsigned int _index) const
Get detected fiducial value for a ray.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
int RangeCount() const
Get the range count.
double Retro(const unsigned int _index) const
Get detected retro (intensity) value for a ray.
double RangeResolution() const
Get the range resolution.
Base class for sensors.
Definition: Sensor.hh:53
physics::MultiRayShapePtr LaserShape() const
Returns a pointer to the internal physics::MultiRayShape.
boost::shared_ptr< MultiRayShape > MultiRayShapePtr
Definition: PhysicsTypes.hh:154
ignition::math::Angle AngleMax() const
Get the maximum angle.
int VerticalRayCount() const
Get the vertical scan line count.