GpsSensor to provide position measurement. More...
#include <sensors/sensors.hh>
Inherits Sensor.
Public Member Functions | |
GpsSensor () | |
Constructor. More... | |
virtual | ~GpsSensor () |
Destructor. More... | |
double | Altitude () const |
Accessor for current altitude. More... | |
SensorCategory | Category () const |
Get the category of the sensor. More... | |
event::ConnectionPtr | ConnectUpdated (std::function< void()> _subscriber) |
Connect a signal that is triggered when the sensor is updated. More... | |
void | FillMsg (msgs::Sensor &_msg) |
fills a msgs::Sensor message. More... | |
virtual void | Fini () |
Finalize the sensor. More... | |
uint32_t | Id () const |
Get the sensor's ID. More... | |
virtual void | Init () |
Initialize the sensor. More... | |
virtual bool | IsActive () const |
Returns true if sensor generation is active. More... | |
common::Time | LastMeasurementTime () const |
Return last measurement time. More... | |
common::Time | LastUpdateTime () const |
Return last update time. More... | |
ignition::math::Angle | Latitude () const |
Accessor for current latitude angle. More... | |
virtual void | Load (const std::string &_worldName) |
Load the sensor with default parameters. More... | |
virtual void | Load (const std::string &_worldName, sdf::ElementPtr _sdf) |
Load the sensor with SDF parameters. More... | |
ignition::math::Angle | Longitude () const |
Accessor for current longitude angle. More... | |
std::string | Name () const |
Get name. More... | |
virtual double | NextRequiredTimestamp () const |
Get the next timestamp that will be used by the sensor. More... | |
NoisePtr | Noise (const SensorNoiseType _type) const |
Get the sensor's noise model for a specified noise type. More... | |
uint32_t | ParentId () const |
Get the sensor's parent's ID. More... | |
std::string | ParentName () const |
Returns the name of the sensor parent. More... | |
virtual ignition::math::Pose3d | Pose () const |
Get the current pose. More... | |
virtual void | ResetLastUpdateTime () |
Reset the lastUpdateTime to zero. More... | |
std::string | ScopedName () const |
Get fully scoped name of the sensor. More... | |
virtual void | SetActive (const bool _value) |
Set whether the sensor is active or not. More... | |
void | SetParent (const std::string &_name, const uint32_t _id) |
Set the sensor's parent. More... | |
virtual void | SetPose (const ignition::math::Pose3d &_pose) |
Set the current pose. More... | |
void | SetUpdateRate (const double _hz) |
Set the update rate of the sensor. More... | |
bool | StrictRate () const |
Returns true if the sensor is to follow strict update rate. More... | |
virtual std::string | Topic () const |
Returns the topic name as set in SDF. More... | |
std::string | Type () const |
Get sensor type. More... | |
virtual void | Update (const bool _force) |
Update the sensor. More... | |
double | UpdateRate () const |
Get the update rate of the sensor. More... | |
double | VelocityEast () const |
Accessor for current velocity in East direction. More... | |
ignition::math::Vector3d | VelocityENU () const |
Accessor for curent velocity in East-North-Up frame. More... | |
double | VelocityNorth () const |
Accessor for current velocity in North direction. More... | |
double | VelocityUp () const |
Accessor for current velocity in Up direction. More... | |
bool | Visualize () const |
Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More... | |
std::string | WorldName () const |
Returns the name of the world the sensor is in. More... | |
Protected Member Functions | |
virtual bool | NeedsUpdate () |
Return true if the sensor needs to be updated. More... | |
virtual bool | UpdateImpl (const bool _force) |
This gets overwritten by derived sensor types. More... | |
Protected Attributes | |
bool | active |
True if sensor generation is active. More... | |
std::vector< event::ConnectionPtr > | connections |
All event connections. More... | |
common::Time | lastMeasurementTime |
Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl. More... | |
common::Time | lastUpdateTime |
Time of the last update. More... | |
transport::NodePtr | node |
Node for communication. More... | |
ignition::transport::Node | nodeIgn |
Ignition transport node. More... | |
std::map< SensorNoiseType, NoisePtr > | noises |
Noise added to sensor data. More... | |
uint32_t | parentId |
The sensor's parent ID. More... | |
std::string | parentName |
Name of the parent. More... | |
std::vector< SensorPluginPtr > | plugins |
All the plugins for the sensor. More... | |
ignition::math::Pose3d | pose |
Pose of the sensor. More... | |
gazebo::rendering::ScenePtr | scene |
Pointer to the Scene. More... | |
sdf::ElementPtr | sdf |
Pointer the the SDF element for the sensor. More... | |
event::EventT< void()> | updated |
Event triggered when a sensor is updated. More... | |
common::Time | updatePeriod |
Desired time between updates, set indirectly by Sensor::SetUpdateRate. More... | |
gazebo::physics::WorldPtr | world |
Pointer to the world. More... | |
Static Protected Attributes | |
static bool | useStrictRate |
Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for sensor updates to satisfy the desired rate. More... | |
GpsSensor to provide position measurement.
GpsSensor | ( | ) |
Constructor.
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virtual |
Destructor.
double Altitude | ( | ) | const |
Accessor for current altitude.
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inherited |
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inherited |
Connect a signal that is triggered when the sensor is updated.
[in] | _subscriber | Callback that receives the signal. |
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inherited |
fills a msgs::Sensor message.
[out] | _msg | Message to fill. |
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Finalize the sensor.
Reimplemented from Sensor.
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Get the sensor's ID.
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Initialize the sensor.
Reimplemented from Sensor.
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virtualinherited |
Returns true if sensor generation is active.
Reimplemented in MultiCameraSensor, GpuRaySensor, CameraSensor, SonarSensor, RaySensor, LogicalCameraSensor, ImuSensor, ForceTorqueSensor, and ContactSensor.
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Return last measurement time.
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inherited |
Return last update time.
ignition::math::Angle Latitude | ( | ) | const |
Accessor for current latitude angle.
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Load the sensor with default parameters.
[in] | _worldName | Name of world to load from. |
Reimplemented from Sensor.
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ignition::math::Angle Longitude | ( | ) | const |
Accessor for current longitude angle.
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inherited |
Get name.
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protectedvirtualinherited |
Return true if the sensor needs to be updated.
Reimplemented in MultiCameraSensor, GpuRaySensor, and CameraSensor.
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virtualinherited |
Get the next timestamp that will be used by the sensor.
Reimplemented in MultiCameraSensor, GpuRaySensor, and CameraSensor.
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inherited |
Get the sensor's noise model for a specified noise type.
[in] | _type | Index of the noise type. Refer to SensorNoiseType enumeration for possible indices |
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Get the sensor's parent's ID.
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Returns the name of the sensor parent.
The parent name is set by Sensor::SetParent.
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virtualinherited |
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virtualinherited |
Reset the lastUpdateTime to zero.
Reimplemented in MultiCameraSensor, GpuRaySensor, and CameraSensor.
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Get fully scoped name of the sensor.
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Set whether the sensor is active or not.
[in] | _value | True if active, false if not. |
Reimplemented in MultiCameraSensor, GpuRaySensor, and CameraSensor.
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Set the sensor's parent.
[in] | _name | The sensor's parent's name. |
[in] | _id | The sensor's parent's ID. |
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virtualinherited |
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Set the update rate of the sensor.
[in] | _hz | update rate of sensor. |
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Returns true if the sensor is to follow strict update rate.
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virtualinherited |
Returns the topic name as set in SDF.
Reimplemented in MultiCameraSensor, GpuRaySensor, CameraSensor, WirelessTransceiver, SonarSensor, RaySensor, LogicalCameraSensor, and ForceTorqueSensor.
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Get sensor type.
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virtualinherited |
Update the sensor.
[in] | _force | True to force update, false otherwise. |
Reimplemented in GpuRaySensor, and CameraSensor.
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protectedvirtual |
This gets overwritten by derived sensor types.
This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update
[in] | _force | True if update is forced, false if not |
Reimplemented from Sensor.
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inherited |
Get the update rate of the sensor.
double VelocityEast | ( | ) | const |
Accessor for current velocity in East direction.
ignition::math::Vector3d VelocityENU | ( | ) | const |
Accessor for curent velocity in East-North-Up frame.
double VelocityNorth | ( | ) | const |
Accessor for current velocity in North direction.
double VelocityUp | ( | ) | const |
Accessor for current velocity in Up direction.
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inherited |
Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.
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inherited |
Returns the name of the world the sensor is in.
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protectedinherited |
True if sensor generation is active.
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protectedinherited |
All event connections.
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protectedinherited |
Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.
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protectedinherited |
Time of the last update.
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protectedinherited |
Node for communication.
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protectedinherited |
Ignition transport node.
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protectedinherited |
Noise added to sensor data.
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protectedinherited |
The sensor's parent ID.
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protectedinherited |
Name of the parent.
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protectedinherited |
All the plugins for the sensor.
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Pose of the sensor.
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protectedinherited |
Pointer to the Scene.
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Pointer the the SDF element for the sensor.
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protectedinherited |
Event triggered when a sensor is updated.
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protectedinherited |
Desired time between updates, set indirectly by Sensor::SetUpdateRate.
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staticprotectedinherited |
Whether to enforce strict sensor update rate, even if physics time has to slow down to wait for sensor updates to satisfy the desired rate.
static type to avoid breaking ABI and because lockstep setting is global.
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protectedinherited |
Pointer to the world.