Sensor.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef SDF_SENSOR_HH_
18 #define SDF_SENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <ignition/math/Pose3.hh>
23 #include "sdf/Element.hh"
24 #include "sdf/SemanticPose.hh"
25 #include "sdf/Types.hh"
26 #include "sdf/system_util.hh"
27 
28 namespace sdf
29 {
30  // Inline bracket to help doxygen filtering.
31  inline namespace SDF_VERSION_NAMESPACE {
32  //
33 
34  // Forward declarations.
35  class AirPressure;
36  class Altimeter;
37  class Camera;
38  class ForceTorque;
39  class Imu;
40  class Lidar;
41  class Magnetometer;
42  class NavSat;
43  class SensorPrivate;
44  struct PoseRelativeToGraph;
45 
48  // Developer note: Make sure to update sensorTypeStrs in the source file
49  // when changing this enum.
50  enum class SensorType
51  {
53  NONE = 0,
54 
56  ALTIMETER = 1,
57 
59  CAMERA = 2,
60 
62  CONTACT = 3,
63 
65  DEPTH_CAMERA = 4,
66 
68  FORCE_TORQUE = 5,
69 
71  GPS = 6,
72 
74  GPU_LIDAR = 7,
75 
77  IMU = 8,
78 
80  LOGICAL_CAMERA = 9,
81 
83  MAGNETOMETER = 10,
84 
86  MULTICAMERA = 11,
87 
89  LIDAR = 12,
90 
92  RFID = 13,
93 
95  RFIDTAG = 14,
96 
98  SONAR = 15,
99 
101  WIRELESS_RECEIVER = 16,
102 
105 
107  AIR_PRESSURE = 18,
108 
111  RGBD_CAMERA = 19,
112 
114  THERMAL_CAMERA = 20,
115 
117  NAVSAT = 21
118  };
119 
122  {
124  public: Sensor();
125 
128  public: Sensor(const Sensor &_sensor);
129 
132  public: Sensor(Sensor &&_sensor) noexcept;
133 
135  public: ~Sensor();
136 
143  public: Errors Load(ElementPtr _sdf);
144 
148  public: std::string Name() const;
149 
153  public: void SetName(const std::string &_name);
154 
157  public: std::string Topic() const;
158 
161  public: void SetTopic(const std::string &_topic);
162 
165  public: bool EnableMetrics() const;
166 
169  public: void SetEnableMetrics(bool _enableMetrics);
170 
176  public: const ignition::math::Pose3d &RawPose() const;
177 
181  public: void SetRawPose(const ignition::math::Pose3d &_pose);
182 
187  public: const std::string &PoseRelativeTo() const;
188 
193  public: void SetPoseRelativeTo(const std::string &_frame);
194 
198  public: sdf::SemanticPose SemanticPose() const;
199 
204  public: sdf::ElementPtr Element() const;
205 
208  public: SensorType Type() const;
209 
212  public: void SetType(const SensorType _type);
213 
220  public: bool SetType(const std::string &_typeStr);
221 
224  public: std::string TypeStr() const;
225 
230  public: double UpdateRate() const;
231 
236  public: void SetUpdateRate(double _hz);
237 
241  public: Sensor &operator=(const Sensor &_sensor);
242 
246  public: Sensor &operator=(Sensor &&_sensor);
247 
251  public: bool operator==(const Sensor &_sensor) const;
252 
257  public: bool operator!=(const Sensor &_sensor) const;
258 
264  public: const Magnetometer *MagnetometerSensor() const;
265 
268  public: void SetMagnetometerSensor(const Magnetometer &_mag);
269 
275  public: const Altimeter *AltimeterSensor() const;
276 
279  public: void SetAltimeterSensor(const Altimeter &_alt);
280 
286  public: const AirPressure *AirPressureSensor() const;
287 
290  public: void SetAirPressureSensor(const AirPressure &_air);
291 
294  public: void SetCameraSensor(const Camera &_cam);
295 
301  public: const Camera *CameraSensor() const;
302 
305  public: void SetForceTorqueSensor(const ForceTorque &_ft);
306 
312  public: const ForceTorque *ForceTorqueSensor() const;
313 
316  public: void SetNavSatSensor(const NavSat &_navsat);
317 
323  public: const NavSat *NavSatSensor() const;
324 
327  public: void SetImuSensor(const Imu &_imu);
328 
334  public: const Imu *ImuSensor() const;
335 
341  public: const Lidar *LidarSensor() const;
342 
345  public: void SetLidarSensor(const Lidar &_lidar);
346 
351  private: void SetXmlParentName(const std::string &_xmlParentName);
352 
357  private: void SetPoseRelativeToGraph(
358  std::weak_ptr<const PoseRelativeToGraph> _graph);
359 
363  friend class Link;
364 
366  private: SensorPrivate *dataPtr = nullptr;
367  };
368  }
369 }
370 #endif
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
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
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