17 #ifndef SDF_SENSOR_HH_ 18 #define SDF_SENSOR_HH_ 22 #include <ignition/math/Pose3.hh> 31 inline namespace SDF_VERSION_NAMESPACE {
44 struct PoseRelativeToGraph;
148 public: std::string Name()
const;
153 public:
void SetName(
const std::string &_name);
157 public: std::string Topic()
const;
161 public:
void SetTopic(
const std::string &_topic);
165 public:
bool EnableMetrics()
const;
169 public:
void SetEnableMetrics(
bool _enableMetrics);
176 public:
const ignition::math::Pose3d &RawPose()
const;
181 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
187 public:
const std::string &PoseRelativeTo()
const;
193 public:
void SetPoseRelativeTo(
const std::string &_frame);
220 public:
bool SetType(
const std::string &_typeStr);
224 public: std::string TypeStr()
const;
230 public:
double UpdateRate()
const;
236 public:
void SetUpdateRate(
double _hz);
251 public:
bool operator==(
const Sensor &_sensor)
const;
257 public:
bool operator!=(
const Sensor &_sensor)
const;
268 public:
void SetMagnetometerSensor(
const Magnetometer &_mag);
275 public:
const Altimeter *AltimeterSensor()
const;
279 public:
void SetAltimeterSensor(
const Altimeter &_alt);
286 public:
const AirPressure *AirPressureSensor()
const;
290 public:
void SetAirPressureSensor(
const AirPressure &_air);
294 public:
void SetCameraSensor(
const Camera &_cam);
301 public:
const Camera *CameraSensor()
const;
305 public:
void SetForceTorqueSensor(
const ForceTorque &_ft);
312 public:
const ForceTorque *ForceTorqueSensor()
const;
316 public:
void SetNavSatSensor(
const NavSat &_navsat);
323 public:
const NavSat *NavSatSensor()
const;
327 public:
void SetImuSensor(
const Imu &_imu);
334 public:
const Imu *ImuSensor()
const;
341 public:
const Lidar *LidarSensor()
const;
345 public:
void SetLidarSensor(
const Lidar &_lidar);
351 private:
void SetXmlParentName(
const std::string &_xmlParentName);
357 private:
void SetPoseRelativeToGraph(
358 std::weak_ptr<const PoseRelativeToGraph> _graph);
366 private: SensorPrivate *dataPtr =
nullptr;
A CPU based lidar sensor.
Information about a monocular camera sensor.
Definition: Camera.hh:63
SensorType
The set of sensor types.
Definition: Sensor.hh:50
AirPressure contains information about a general purpose fluid pressure sensor.
Definition: AirPressure.hh:35
A monocular camera sensor.
NavSat contains information about a NavSat sensor.
Definition: NavSat.hh:76
Information about an SDF sensor.
Definition: Sensor.hh:121
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:66
An RGBD sensor, which produces both a color image and a depth image.
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25
Imu contains information about an imu sensor.
Definition: Imu.hh:35
Altimeter contains information about an altimeter sensor.
Definition: Altimeter.hh:34
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
A NavSat sensor, such as GPS.
A GPU based lidar sensor.
namespace for Simulation Description Format parser
Definition: Actor.hh:32
Magnetometer contains information about a magnetometer sensor.
Definition: Magnetometer.hh:34
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:104
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95