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 <ignition/utils/ImplPtr.hh>
24 #include "sdf/Element.hh"
25 #include "sdf/SemanticPose.hh"
26 #include "sdf/Types.hh"
27 #include "sdf/sdf_config.h"
28 #include "sdf/system_util.hh"
29 
30 namespace sdf
31 {
32  // Inline bracket to help doxygen filtering.
33  inline namespace SDF_VERSION_NAMESPACE {
34  //
35 
36  // Forward declarations.
37  class AirPressure;
38  class Altimeter;
39  class Camera;
40  class ForceTorque;
41  class Imu;
42  class Lidar;
43  class Magnetometer;
44  class NavSat;
45  struct PoseRelativeToGraph;
46  template <typename T> class ScopedGraph;
47 
50  // Developer note: Make sure to update sensorTypeStrs in the source file
51  // when changing this enum.
52  enum class SensorType
53  {
55  NONE = 0,
56 
58  ALTIMETER = 1,
59 
61  CAMERA = 2,
62 
64  CONTACT = 3,
65 
67  DEPTH_CAMERA = 4,
68 
70  FORCE_TORQUE = 5,
71 
73  GPS = 6,
74 
76  GPU_LIDAR = 7,
77 
79  IMU = 8,
80 
82  LOGICAL_CAMERA = 9,
83 
85  MAGNETOMETER = 10,
86 
88  MULTICAMERA = 11,
89 
91  LIDAR = 12,
92 
94  RFID = 13,
95 
97  RFIDTAG = 14,
98 
100  SONAR = 15,
101 
103  WIRELESS_RECEIVER = 16,
104 
107 
109  AIR_PRESSURE = 18,
110 
113  RGBD_CAMERA = 19,
114 
116  THERMAL_CAMERA = 20,
117 
119  NAVSAT = 21
120  };
121 
124  {
126  public: Sensor();
127 
134  public: Errors Load(ElementPtr _sdf);
135 
139  public: std::string Name() const;
140 
144  public: void SetName(const std::string &_name);
145 
148  public: std::string Topic() const;
149 
152  public: void SetTopic(const std::string &_topic);
153 
156  public: bool EnableMetrics() const;
157 
160  public: void SetEnableMetrics(bool _enableMetrics);
161 
167  public: const ignition::math::Pose3d &RawPose() const;
168 
172  public: void SetRawPose(const ignition::math::Pose3d &_pose);
173 
178  public: const std::string &PoseRelativeTo() const;
179 
184  public: void SetPoseRelativeTo(const std::string &_frame);
185 
189  public: sdf::SemanticPose SemanticPose() const;
190 
195  public: sdf::ElementPtr Element() const;
196 
199  public: SensorType Type() const;
200 
203  public: void SetType(const SensorType _type);
204 
211  public: bool SetType(const std::string &_typeStr);
212 
215  public: std::string TypeStr() const;
216 
221  public: double UpdateRate() const;
222 
227  public: void SetUpdateRate(double _hz);
228 
232  public: bool operator==(const Sensor &_sensor) const;
233 
238  public: bool operator!=(const Sensor &_sensor) const;
239 
245  public: const Magnetometer *MagnetometerSensor() const;
246 
249  public: void SetMagnetometerSensor(const Magnetometer &_mag);
250 
256  public: const Altimeter *AltimeterSensor() const;
257 
260  public: void SetAltimeterSensor(const Altimeter &_alt);
261 
267  public: const AirPressure *AirPressureSensor() const;
268 
271  public: void SetAirPressureSensor(const AirPressure &_air);
272 
275  public: void SetCameraSensor(const Camera &_cam);
276 
282  public: const Camera *CameraSensor() const;
283 
286  public: void SetNavSatSensor(const NavSat &_navsat);
287 
293  public: const NavSat *NavSatSensor() const;
294 
297  public: void SetForceTorqueSensor(const ForceTorque &_ft);
298 
304  public: const ForceTorque *ForceTorqueSensor() const;
305 
308  public: void SetImuSensor(const Imu &_imu);
309 
315  public: const Imu *ImuSensor() const;
316 
322  public: const Lidar *LidarSensor() const;
323 
326  public: void SetLidarSensor(const Lidar &_lidar);
327 
332  private: void SetXmlParentName(const std::string &_xmlParentName);
333 
338  private: void SetPoseRelativeToGraph(
339  sdf::ScopedGraph<PoseRelativeToGraph> _graph);
340 
344  friend class Link;
345 
347  IGN_UTILS_IMPL_PTR(dataPtr)
348  };
349  }
350 }
351 #endif
Information about a monocular camera sensor.
Definition: Camera.hh:60
SensorType
The set of sensor types.
Definition: Sensor.hh:52
AirPressure contains information about a general purpose fluid pressure sensor.
Definition: AirPressure.hh:34
NavSat contains information about a NavSat sensor.
Definition: NavSat.hh:75
Information about an SDF sensor.
Definition: Sensor.hh:123
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:54
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:64
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:33
Altimeter contains information about an altimeter sensor.
Definition: Altimeter.hh:33
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
namespace for Simulation Description Format parser
Definition: Actor.hh:33
Magnetometer contains information about a magnetometer sensor.
Definition: Magnetometer.hh:34
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:105
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106