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17 #ifndef SDF_SENSOR_HH_
18 #define SDF_SENSOR_HH_
22 #include <ignition/math/Pose3.hh>
31 inline namespace SDF_VERSION_NAMESPACE {
42 struct PoseRelativeToGraph;
143 public: std::string Name()
const;
148 public:
void SetName(
const std::string &_name);
152 public: std::string Topic()
const;
156 public:
void SetTopic(
const std::string &_topic);
164 public:
const ignition::math::Pose3d &Pose()
const
171 public:
void SetPose(
const ignition::math::Pose3d &_pose)
179 public:
const ignition::math::Pose3d &RawPose()
const;
184 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
190 public:
const std::string &PoseRelativeTo()
const;
196 public:
void SetPoseRelativeTo(
const std::string &_frame);
203 public:
const std::string &PoseFrame()
const
211 public:
void SetPoseFrame(
const std::string &_frame)
239 public:
bool SetType(
const std::string &_typeStr);
243 public: std::string TypeStr()
const;
249 public:
double UpdateRate()
const;
255 public:
void SetUpdateRate(
double _hz);
270 public:
bool operator==(
const Sensor &_sensor)
const;
276 public:
bool operator!=(
const Sensor &_sensor)
const;
287 public:
void SetMagnetometerSensor(
const Magnetometer &_mag);
294 public:
const Altimeter *AltimeterSensor()
const;
298 public:
void SetAltimeterSensor(
const Altimeter &_alt);
305 public:
const AirPressure *AirPressureSensor()
const;
309 public:
void SetAirPressureSensor(
const AirPressure &_air);
313 public:
void SetCameraSensor(
const Camera &_cam);
320 public:
const Camera *CameraSensor()
const;
324 public:
void SetImuSensor(
const Imu &_imu);
331 public:
const Imu *ImuSensor()
const;
338 public:
const Lidar *LidarSensor()
const;
342 public:
void SetLidarSensor(
const Lidar &_lidar);
348 private:
void SetXmlParentName(
const std::string &_xmlParentName);
354 private:
void SetPoseRelativeToGraph(
355 std::weak_ptr<const PoseRelativeToGraph> _graph);
363 private: SensorPrivate *dataPtr =
nullptr;
A GPU based lidar sensor.
AirPressure contains information about a general purpose fluid pressure sensor.
Definition: AirPressure.hh:35
namespace for Simulation Description Format parser
Definition: Actor.hh:32
Imu contains information about an imu sensor.
Definition: Imu.hh:35
A monocular camera sensor.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
SensorType
Definition: Sensor.hh:48
Information about a monocular camera sensor.
Definition: Camera.hh:63
A CPU based lidar sensor.
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:104
An RGBD sensor, which produces both a color image and a depth image.
An unspecified sensor type.
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Altimeter contains information about an altimeter sensor.
Definition: Altimeter.hh:34
Magnetometer contains information about a magnetometer sensor.
Definition: Magnetometer.hh:34
Information about an SDF sensor.
Definition: Sensor.hh:116