Sensor.hh
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1/*
2 * Copyright 2018 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16 */
17#ifndef SDF_SENSOR_HH_
18#define SDF_SENSOR_HH_
19
20#include <memory>
21#include <string>
22#include <gz/math/Pose3.hh>
23#include <gz/utils/ImplPtr.hh>
24#include "sdf/Element.hh"
25#include "sdf/Plugin.hh"
26#include "sdf/SemanticPose.hh"
27#include "sdf/Types.hh"
28#include "sdf/sdf_config.h"
29#include "sdf/system_util.hh"
30
31namespace sdf
32{
33 // Inline bracket to help doxygen filtering.
34 inline namespace SDF_VERSION_NAMESPACE {
35 //
36
37 // Forward declarations.
38 class AirPressure;
39 class Altimeter;
40 class Camera;
41 class ForceTorque;
42 class Imu;
43 class Lidar;
44 class Magnetometer;
45 class NavSat;
46 struct PoseRelativeToGraph;
47 template <typename T> class ScopedGraph;
48
51 // Developer note: Make sure to update sensorTypeStrs in the source file
52 // when changing this enum.
53 enum class SensorType
54 {
56 NONE = 0,
57
59 ALTIMETER = 1,
60
62 CAMERA = 2,
63
65 CONTACT = 3,
66
68 DEPTH_CAMERA = 4,
69
71 FORCE_TORQUE = 5,
72
74 GPS = 6,
75
77 GPU_LIDAR = 7,
78
80 IMU = 8,
81
83 LOGICAL_CAMERA = 9,
84
86 MAGNETOMETER = 10,
87
89 MULTICAMERA = 11,
90
92 LIDAR = 12,
93
95 RFID = 13,
96
98 RFIDTAG = 14,
99
101 SONAR = 15,
102
104 WIRELESS_RECEIVER = 16,
105
107 WIRELESS_TRANSMITTER = 17,
108
110 AIR_PRESSURE = 18,
111
114 RGBD_CAMERA = 19,
115
117 THERMAL_CAMERA = 20,
118
120 NAVSAT = 21,
121
123 SEGMENTATION_CAMERA = 22,
124
126 BOUNDINGBOX_CAMERA = 23,
127
129 CUSTOM = 24,
130
132 WIDE_ANGLE_CAMERA = 25
133 };
134
137 {
139 public: Sensor();
140
147 public: Errors Load(ElementPtr _sdf);
148
152 public: std::string Name() const;
153
157 public: void SetName(const std::string &_name);
158
161 public: std::string Topic() const;
162
165 public: void SetTopic(const std::string &_topic);
166
169 public: bool EnableMetrics() const;
170
173 public: void SetEnableMetrics(bool _enableMetrics);
174
180 public: const gz::math::Pose3d &RawPose() const;
181
185 public: void SetRawPose(const gz::math::Pose3d &_pose);
186
191 public: const std::string &PoseRelativeTo() const;
192
197 public: void SetPoseRelativeTo(const std::string &_frame);
198
203
208 public: sdf::ElementPtr Element() const;
209
215 public: sdf::ElementPtr ToElement() const;
216
219 public: SensorType Type() const;
220
223 public: void SetType(const SensorType _type);
224
231 public: bool SetType(const std::string &_typeStr);
232
235 public: std::string TypeStr() const;
236
241 public: double UpdateRate() const;
242
247 public: void SetUpdateRate(double _hz);
248
252 public: bool operator==(const Sensor &_sensor) const;
253
258 public: bool operator!=(const Sensor &_sensor) const;
259
265 public: const Magnetometer *MagnetometerSensor() const;
266
273
276 public: void SetMagnetometerSensor(const Magnetometer &_mag);
277
283 public: const Altimeter *AltimeterSensor() const;
284
291
294 public: void SetAltimeterSensor(const Altimeter &_alt);
295
301 public: const AirPressure *AirPressureSensor() const;
302
309
312 public: void SetAirPressureSensor(const AirPressure &_air);
313
316 public: void SetCameraSensor(const Camera &_cam);
317
323 public: const Camera *CameraSensor() const;
324
331
334 public: void SetNavSatSensor(const NavSat &_navsat);
335
341 public: const NavSat *NavSatSensor() const;
342
349
352 public: void SetForceTorqueSensor(const ForceTorque &_ft);
353
359 public: const ForceTorque *ForceTorqueSensor() const;
360
367
370 public: void SetImuSensor(const Imu &_imu);
371
377 public: const Imu *ImuSensor() const;
378
384 public: Imu *ImuSensor();
385
391 public: const Lidar *LidarSensor() const;
392
398 public: Lidar *LidarSensor();
399
402 public: void SetLidarSensor(const Lidar &_lidar);
403
407 public: const sdf::Plugins &Plugins() const;
408
413
415 public: void ClearPlugins();
416
419 public: void AddPlugin(const Plugin &_plugin);
420
425 private: void SetXmlParentName(const std::string &_xmlParentName);
426
431 private: void SetPoseRelativeToGraph(
433
437 friend class Link;
441 friend class Joint;
442
444 IGN_UTILS_IMPL_PTR(dataPtr)
445 };
446 }
447}
448#endif
AirPressure contains information about a general purpose fluid pressure sensor.
Definition: AirPressure.hh:35
Altimeter contains information about an altimeter sensor.
Definition: Altimeter.hh:34
Information about a monocular camera sensor.
Definition: Camera.hh:61
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:65
Imu contains information about an imu sensor.
Definition: Imu.hh:34
Definition: Joint.hh:86
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:106
Magnetometer contains information about a magnetometer sensor.
Definition: Magnetometer.hh:35
NavSat contains information about a NavSat sensor.
Definition: NavSat.hh:76
Definition: Plugin.hh:46
Definition: Collision.hh:39
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:55
Information about an SDF sensor.
Definition: Sensor.hh:137
const gz::math::Pose3d & RawPose() const
Get the pose of the sensor.
void SetImuSensor(const Imu &_imu)
Set the IMU sensor.
void SetMagnetometerSensor(const Magnetometer &_mag)
Set the magnetometer sensor.
sdf::Plugins & Plugins()
Get a mutable vector of plugins attached to this object.
AirPressure * AirPressureSensor()
Get a mutable air pressure sensor, or nullptr if this sensor type is not an AirPressure sensor.
Altimeter * AltimeterSensor()
Get a mutable altimeter sensor, or nullptr if this sensor type is not an Altimeter.
void SetName(const std::string &_name)
Set the name of the sensor.
ForceTorque * ForceTorqueSensor()
Get a mutable force torque sensor, or nullptr if the sensor does not contain a force torque sensor.
bool operator!=(const Sensor &_sensor) const
Return true this Sensor object does not contain the same values as the passed in parameter.
void SetEnableMetrics(bool _enableMetrics)
Set flag to enable publishing performance metrics.
const ForceTorque * ForceTorqueSensor() const
Get a pointer to a force torque sensor, or nullptr if the sensor does not contain a force torque sens...
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this object's pose is expressed.
Magnetometer * MagnetometerSensor()
Get a mutable magnetometer sensor, or nullptr if this sensor type is not a Magnetometer.
const AirPressure * AirPressureSensor() const
Get the air pressure sensor, or nullptr if this sensor type is not an AirPressure sensor.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
bool operator==(const Sensor &_sensor) const
Return true if both Sensor objects contain the same values.
void SetAirPressureSensor(const AirPressure &_air)
Set the air pressure sensor.
void SetNavSatSensor(const NavSat &_navsat)
Set the NAVSAT sensor.
const NavSat * NavSatSensor() const
Get a pointer to a NAVSAT sensor, or nullptr if the sensor does not contain an NAVSAT sensor.
const Imu * ImuSensor() const
Get a pointer to an IMU sensor, or nullptr if the sensor does not contain an IMU sensor.
const Altimeter * AltimeterSensor() const
Get the altimeter sensor, or nullptr if this sensor type is not an Altimeter.
void SetCameraSensor(const Camera &_cam)
Set the camera sensor.
bool EnableMetrics() const
Get flag state for enabling performance metrics publication.
void AddPlugin(const Plugin &_plugin)
Add a plugin to this object.
const Lidar * LidarSensor() const
Get the lidar sensor, or nullptr if this sensor type is not a Lidar.
void SetRawPose(const gz::math::Pose3d &_pose)
Set the pose of the sensor.
std::string Name() const
Get the name of the sensor.
Camera * CameraSensor()
Get a mutable camera sensor, or nullptr if the sensor does not contain a camera sensor.
void SetForceTorqueSensor(const ForceTorque &_ft)
Set the force torque sensor.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
std::string TypeStr() const
Get the sensor type as a string.
void SetTopic(const std::string &_topic)
Set the topic on which sensor data should be published.
void SetType(const SensorType _type)
Set the sensor type.
std::string Topic() const
Get the topic on which sensor data should be published.
const sdf::Plugins & Plugins() const
Get the plugins attached to this object.
void SetAltimeterSensor(const Altimeter &_alt)
Set the altimeter sensor.
Lidar * LidarSensor()
Get a mutable lidar sensor, or nullptr if this sensor type is not a Lidar.
void SetUpdateRate(double _hz)
Set the update rate.
NavSat * NavSatSensor()
Get a mutable NAVSAT sensor, or nullptr if the sensor does not contain an NAVSAT sensor.
void SetLidarSensor(const Lidar &_lidar)
Set the lidar sensor.
Errors Load(ElementPtr _sdf)
Load the sensor based on a element pointer.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this sensor.
Imu * ImuSensor()
Get a mutable IMU sensor, or nullptr if the sensor does not contain an IMU sensor.
SensorType Type() const
Get the sensor type.
const Magnetometer * MagnetometerSensor() const
Get the magnetometer sensor, or nullptr if this sensor type is not a Magnetometer.
const Camera * CameraSensor() const
Get a pointer to a camera sensor, or nullptr if the sensor does not contain a camera sensor.
double UpdateRate() const
Get the update rate in Hz.
bool SetType(const std::string &_typeStr)
Set the sensor type from a string.
Sensor()
Default constructor.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
void ClearPlugins()
Remove all plugins.
std::vector< Plugin > Plugins
A vector of Plugin.
Definition: Plugin.hh:196
SensorType
The set of sensor types.
Definition: Sensor.hh:54
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25