AltimeterSensor.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_SENSORS_ALTIMETERSENSOR_HH_
19 #define _GAZEBO_SENSORS_ALTIMETERSENSOR_HH_
20 
21 #include <string>
22 
23 #include <sdf/sdf.hh>
24 
25 #include "gazebo/sensors/Sensor.hh"
29 #include "gazebo/util/system.hh"
30 
31 namespace gazebo
32 {
33  namespace sensors
34  {
35  // Forward declare private data class
36  class AltimeterSensorPrivate;
37 
40 
42  class GZ_SENSORS_VISIBLE AltimeterSensor: public Sensor
43  {
45  public: AltimeterSensor();
46 
48  public: virtual ~AltimeterSensor();
49 
50  // Documentation inherited
51  public: virtual void Load(const std::string &_worldName,
52  sdf::ElementPtr _sdf);
53 
54  // Documentation inherited
55  public: virtual void Load(const std::string &_worldName);
56 
57  // Documentation inherited
58  public: virtual void Init();
59 
60  // Documentation inherited
61  public: virtual std::string GetTopic() const;
62 
63  // Documentation inherited
64  protected: virtual bool UpdateImpl(const bool _force);
65 
66  // Documentation inherited
67  public: virtual void Fini();
68 
71  public: double Altitude() const;
72 
75  public: double VerticalVelocity() const;
76 
79  public: double ReferenceAltitude() const;
80 
83  public: void SetReferenceAltitude(const double _refAlt);
84 
87  private: std::unique_ptr<AltimeterSensorPrivate> dataPtr;
88  };
90  }
91 }
92 #endif
virtual std::string GetTopic() const
Forward declarations for the common classes.
Definition: Animation.hh:27
sensors
Definition: SensorManager.hh:37
Forward declarations for transport.
double Altitude() const
Accessor for current vertical position.
Forward declarations and typedefs for sensors.
default namespace for gazebo
void SetReferenceAltitude(const double _refAlt)
Accessor for current vertical velocity.
double VerticalVelocity() const
Accessor for current vertical velocity.
double ReferenceAltitude() const
Accessor for the reference altitude.
AltimeterSensor()
Constructor.
virtual void Init()
Initialize the sensor.
virtual void Fini()
Finalize the sensor.
virtual ~AltimeterSensor()
Destructor.
Base class for sensors.
Definition: Sensor.hh:53
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
virtual void Load(const std::string &_worldName, sdf::ElementPtr _sdf)
Load the sensor with SDF parameters.
AltimeterSensor to provide vertical position and velocity.
Definition: AltimeterSensor.hh:43
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.