17 #ifndef SDF_SENSOR_HH_
18 #define SDF_SENSOR_HH_
22 #include <ignition/math/Pose3.hh>
31 inline namespace SDF_VERSION_NAMESPACE {
43 struct PoseRelativeToGraph;
147 public: std::string
Name()
const;
152 public:
void SetName(
const std::string &_name);
176 public:
const ignition::math::Pose3d &
Pose() const
183 public:
void SetPose(const ignition::math::Pose3d &_pose)
191 public: const ignition::math::Pose3d &RawPose() const;
196 public:
void SetRawPose(const ignition::math::Pose3d &_pose);
202 public: const std::
string &PoseRelativeTo() const;
208 public:
void SetPoseRelativeTo(const std::
string &_frame);
215 public: const std::
string &PoseFrame() const
223 public:
void SetPoseFrame(const std::
string &_frame)
251 public:
bool SetType(const std::
string &_typeStr);
255 public: std::
string TypeStr() const;
261 public:
double UpdateRate() const;
267 public:
void SetUpdateRate(
double _hz);
282 public:
bool operator==(const
Sensor &_sensor) const;
288 public:
bool operator!=(const
Sensor &_sensor) const;
325 public:
void SetCameraSensor(const
Camera &_cam);
332 public: const
Camera *CameraSensor() const;
336 public:
void SetNavSatSensor(const
NavSat &_navsat);
343 public: const
NavSat *NavSatSensor() const;
347 public:
void SetImuSensor(const
Imu &_imu);
354 public: const
Imu *ImuSensor() const;
361 public: const
Lidar *LidarSensor() const;
365 public:
void SetLidarSensor(const
Lidar &_lidar);
371 private:
void SetXmlParentName(const std::
string &_xmlParentName);
377 private:
void SetPoseRelativeToGraph(
378 std::weak_ptr<const PoseRelativeToGraph> _graph);
386 private: SensorPrivate *dataPtr =
nullptr;
Information about an SDF sensor.
Definition: Sensor.hh:121
Sensor(Sensor &&_sensor) noexcept
Move constructor.
void SetName(const std::string &_name)
Set the name of the sensor.
void SetEnableMetrics(bool _enableMetrics)
Set flag to enable publishing performance metrics.
bool EnableMetrics() const
Get flag state for enabling performance metrics publication.
std::string Name() const
Get the name of the sensor.
Sensor(const Sensor &_sensor)
Copy constructor.
void SetTopic(const std::string &_topic)
Set the topic on which sensor data should be published.
std::string Topic() const
Get the topic on which sensor data should be published.
Errors Load(ElementPtr _sdf)
Load the sensor based on a element pointer.
Sensor()
Default constructor.
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the sensor.
AirPressure contains information about a general purpose fluid pressure sensor.
Definition: AirPressure.hh:36
Altimeter contains information about an altimeter sensor.
Definition: Altimeter.hh:35
Information about a monocular camera sensor.
Definition: Camera.hh:64
SDF Element class.
Definition: Element.hh:74
Imu contains information about an imu sensor.
Definition: Imu.hh:36
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:105
Magnetometer contains information about a magnetometer sensor.
Definition: Magnetometer.hh:35
NavSat contains information about a NavSat sensor.
Definition: NavSat.hh:77
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
SensorType
The set of sensor types.
Definition: Sensor.hh:50
@ ALTIMETER
An altimeter sensor.
@ SONAR
A sonar tag sensor.
@ WIRELESS_TRANSMITTER
A wireless transmitter.
@ GPU_LIDAR
A GPU based lidar sensor.
@ NAVSAT
A NavSat sensor, such as GPS.
@ LOGICAL_CAMERA
A logical camera sensor.
@ WIRELESS_RECEIVER
A wireless receiver.
@ AIR_PRESSURE
An air pressure sensor.
@ THERMAL_CAMERA
A thermal camera sensor.
@ RGBD_CAMERA
An RGBD sensor, which produces both a color image and a depth image.
@ FORCE_TORQUE
A force-torque sensor.
@ NONE
An unspecified sensor type.
@ CONTACT
A contact sensor.
@ MULTICAMERA
A multicamera sensor.
@ MAGNETOMETER
A magnetometer sensor.
@ LIDAR
A CPU based lidar sensor.
@ CAMERA
A monocular camera sensor.
@ DEPTH_CAMERA
A depth camera sensor.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
namespace for Simulation Description Format parser
Definition: Actor.hh:33
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48