Sensor.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GAZEBO_SENSORS_SENSOR_HH_
18 #define GAZEBO_SENSORS_SENSOR_HH_
19 
20 #include <vector>
21 #include <memory>
22 #include <map>
23 #include <string>
24 
25 #include <sdf/sdf.hh>
26 #include <ignition/math/Pose3.hh>
27 #include <ignition/transport/Node.hh>
28 
32 
33 #include "gazebo/msgs/msgs.hh"
34 #include "gazebo/common/Events.hh"
35 #include "gazebo/common/Time.hh"
37 #include "gazebo/util/system.hh"
38 
39 namespace gazebo
40 {
41  namespace sensors
42  {
43  // Forward declare private data
44  class SensorPrivate;
45 
48 
51  class GZ_SENSORS_VISIBLE Sensor
52  : public std::enable_shared_from_this<Sensor>
53  {
56  public: explicit Sensor(SensorCategory _cat);
57 
59  public: virtual ~Sensor();
60 
64  public: virtual void Load(const std::string &_worldName,
65  sdf::ElementPtr _sdf);
66 
69  public: virtual void Load(const std::string &_worldName);
70 
72  public: virtual void Init();
73 
77  public: void SetParent(const std::string &_name, const uint32_t _id);
78 
82  public: std::string ParentName() const;
83 
86  public: virtual void Update(const bool _force);
87 
90  public: double UpdateRate() const;
91 
94  public: void SetUpdateRate(const double _hz);
95 
97  public: virtual void Fini();
98 
101  public: std::string Name() const;
102 
105  public: std::string ScopedName() const;
106 
110  public: virtual ignition::math::Pose3d Pose() const;
111 
115  public: virtual void SetPose(const ignition::math::Pose3d &_pose);
116 
119  public: virtual void SetActive(const bool _value);
120 
123  public: virtual bool IsActive() const;
124 
127  public: std::string Type() const;
128 
131  public: common::Time LastUpdateTime() const;
132 
136 
140  public: bool Visualize() const;
141 
144  public: virtual std::string Topic() const;
145 
148  public: void FillMsg(msgs::Sensor &_msg);
149 
152  public: std::string WorldName() const;
153 
160  std::function<void()> _subscriber);
161 
165  public: SensorCategory Category() const;
166 
168  public: virtual void ResetLastUpdateTime();
169 
172  public: uint32_t Id() const;
173 
176  public: uint32_t ParentId() const;
177 
182  public: NoisePtr Noise(const SensorNoiseType _type) const;
183 
186  public: virtual double NextRequiredTimestamp() const;
187 
190  public: bool StrictRate() const;
191 
198  protected: virtual bool UpdateImpl(const bool /*_force*/) {return false;}
199 
202  protected: virtual bool NeedsUpdate();
203 
206  private: void LoadPlugin(sdf::ElementPtr _sdf);
207 
213  protected: static bool useStrictRate;
214 
216  protected: bool active;
217 
219  protected: sdf::ElementPtr sdf;
220 
222  protected: ignition::math::Pose3d pose;
223 
225  protected: std::vector<event::ConnectionPtr> connections;
226 
229 
231  protected: std::string parentName;
232 
234  protected: uint32_t parentId;
235 
237  protected: std::vector<SensorPluginPtr> plugins;
238 
241 
244 
248 
251 
255 
257  protected: std::map<SensorNoiseType, NoisePtr> noises;
258 
260  protected: event::EventT<void()> updated;
261 
263  protected: ignition::transport::Node nodeIgn;
264 
267  private: std::unique_ptr<SensorPrivate> dataPtr;
268  };
270  }
271 }
272 #endif
default namespace for gazebo
sensors
Definition: SensorManager.hh:37
Forward declarations and typedefs for sensors.
Forward declarations for transport.
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:48
A class for event processing.
Definition: Event.hh:100
Base class for sensors.
Definition: Sensor.hh:53
bool active
True if sensor generation is active.
Definition: Sensor.hh:216
Sensor(SensorCategory _cat)
Constructor.
event::EventT< void()> updated
Event triggered when a sensor is updated.
Definition: Sensor.hh:260
ignition::math::Pose3d pose
Pose of the sensor.
Definition: Sensor.hh:222
double UpdateRate() const
Get the update rate of the sensor.
virtual double NextRequiredTimestamp() const
Get the next timestamp that will be used by the sensor.
common::Time lastMeasurementTime
Stores last time that a sensor measurement was generated; this value must be updated within each sens...
Definition: Sensor.hh:254
std::string ScopedName() const
Get fully scoped name of the sensor.
virtual void Fini()
Finalize the sensor.
std::vector< event::ConnectionPtr > connections
All event connections.
Definition: Sensor.hh:225
virtual void Init()
Initialize the sensor.
std::string WorldName() const
Returns the name of the world the sensor is in.
std::string Name() const
Get name.
virtual ignition::math::Pose3d Pose() const
Get the current pose.
virtual ~Sensor()
Destructor.
uint32_t ParentId() const
Get the sensor's parent's ID.
virtual void Load(const std::string &_worldName, sdf::ElementPtr _sdf)
Load the sensor with SDF parameters.
virtual bool NeedsUpdate()
Return true if the sensor needs to be updated.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
transport::NodePtr node
Node for communication.
Definition: Sensor.hh:228
bool Visualize() const
Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
virtual void Update(const bool _force)
Update the sensor.
ignition::transport::Node nodeIgn
Ignition transport node.
Definition: Sensor.hh:263
common::Time LastUpdateTime() const
Return last update time.
virtual void ResetLastUpdateTime()
Reset the lastUpdateTime to zero.
virtual bool IsActive() const
Returns true if sensor generation is active.
virtual std::string Topic() const
Returns the topic name as set in SDF.
common::Time updatePeriod
Desired time between updates, set indirectly by Sensor::SetUpdateRate.
Definition: Sensor.hh:247
void FillMsg(msgs::Sensor &_msg)
fills a msgs::Sensor message.
virtual void SetPose(const ignition::math::Pose3d &_pose)
Set the current pose.
void SetParent(const std::string &_name, const uint32_t _id)
Set the sensor's parent.
std::string Type() const
Get sensor type.
std::string parentName
Name of the parent.
Definition: Sensor.hh:231
bool StrictRate() const
Returns true if the sensor is to follow strict update rate.
std::map< SensorNoiseType, NoisePtr > noises
Noise added to sensor data.
Definition: Sensor.hh:257
common::Time LastMeasurementTime() const
Return last measurement time.
virtual void SetActive(const bool _value)
Set whether the sensor is active or not.
sdf::ElementPtr sdf
Pointer the the SDF element for the sensor.
Definition: Sensor.hh:219
common::Time lastUpdateTime
Time of the last update.
Definition: Sensor.hh:250
static bool useStrictRate
Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for senso...
Definition: Sensor.hh:213
uint32_t parentId
The sensor's parent ID.
Definition: Sensor.hh:234
void SetUpdateRate(const double _hz)
Set the update rate of the sensor.
std::string ParentName() const
Returns the name of the sensor parent.
gazebo::physics::WorldPtr world
Pointer to the world.
Definition: Sensor.hh:240
gazebo::rendering::ScenePtr scene
Pointer to the Scene.
Definition: Sensor.hh:243
SensorCategory Category() const
Get the category of the sensor.
event::ConnectionPtr ConnectUpdated(std::function< void()> _subscriber)
Connect a signal that is triggered when the sensor is updated.
uint32_t Id() const
Get the sensor's ID.
std::vector< SensorPluginPtr > plugins
All the plugins for the sensor.
Definition: Sensor.hh:237
NoisePtr Noise(const SensorNoiseType _type) const
Get the sensor's noise model for a specified noise type.
virtual bool UpdateImpl(const bool)
This gets overwritten by derived sensor types.
Definition: Sensor.hh:198
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:90
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
SensorCategory
SensorCategory is used to categorize sensors.
Definition: SensorTypes.hh:309
std::shared_ptr< Noise > NoisePtr
Definition: SensorTypes.hh:124
SensorNoiseType
Definition: SensorTypes.hh:209
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
Forward declarations for the common classes.
Definition: Animation.hh:27