17 #ifndef SDF_SENSOR_HH_ 18 #define SDF_SENSOR_HH_ 22 #include <ignition/math/Pose3.hh> 23 #include <ignition/utils/ImplPtr.hh> 27 #include "sdf/sdf_config.h" 33 inline namespace SDF_VERSION_NAMESPACE {
45 struct PoseRelativeToGraph;
46 template <
typename T>
class ScopedGraph;
151 public: std::string Name()
const;
156 public:
void SetName(
const std::string &_name);
160 public: std::string Topic()
const;
164 public:
void SetTopic(
const std::string &_topic);
168 public:
bool EnableMetrics()
const;
172 public:
void SetEnableMetrics(
bool _enableMetrics);
179 public:
const ignition::math::Pose3d &RawPose()
const;
184 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
190 public:
const std::string &PoseRelativeTo()
const;
196 public:
void SetPoseRelativeTo(
const std::string &_frame);
228 public:
bool SetType(
const std::string &_typeStr);
232 public: std::string TypeStr()
const;
238 public:
double UpdateRate()
const;
244 public:
void SetUpdateRate(
double _hz);
249 public:
bool operator==(
const Sensor &_sensor)
const;
255 public:
bool operator!=(
const Sensor &_sensor)
const;
273 public:
void SetMagnetometerSensor(
const Magnetometer &_mag);
280 public:
const Altimeter *AltimeterSensor()
const;
291 public:
void SetAltimeterSensor(
const Altimeter &_alt);
298 public:
const AirPressure *AirPressureSensor()
const;
309 public:
void SetAirPressureSensor(
const AirPressure &_air);
313 public:
void SetCameraSensor(
const Camera &_cam);
320 public:
const Camera *CameraSensor()
const;
327 public:
Camera *CameraSensor();
331 public:
void SetNavSatSensor(
const NavSat &_navsat);
338 public:
const NavSat *NavSatSensor()
const;
345 public:
NavSat *NavSatSensor();
349 public:
void SetForceTorqueSensor(
const ForceTorque &_ft);
356 public:
const ForceTorque *ForceTorqueSensor()
const;
367 public:
void SetImuSensor(
const Imu &_imu);
374 public:
const Imu *ImuSensor()
const;
381 public:
Imu *ImuSensor();
388 public:
const Lidar *LidarSensor()
const;
395 public:
Lidar *LidarSensor();
399 public:
void SetLidarSensor(
const Lidar &_lidar);
405 private:
void SetXmlParentName(
const std::string &_xmlParentName);
411 private:
void SetPoseRelativeToGraph(
412 sdf::ScopedGraph<PoseRelativeToGraph> _graph);
420 IGN_UTILS_IMPL_PTR(dataPtr)
Altimeter contains information about an altimeter sensor.
Definition: Altimeter.hh:33
Information about a monocular camera sensor.
Definition: Camera.hh:60
Magnetometer contains information about a magnetometer sensor.
Definition: Magnetometer.hh:34
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:105
A GPU based lidar sensor.
SensorType
The set of sensor types.
Definition: Sensor.hh:52
An RGBD sensor, which produces both a color image and a depth image.
A boundingbox camera sensor.
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:64
NavSat contains information about a NavSat sensor.
Definition: NavSat.hh:75
A monocular camera sensor.
Information about an SDF sensor.
Definition: Sensor.hh:135
AirPressure contains information about a general purpose fluid pressure sensor.
Definition: AirPressure.hh:34
A NavSat sensor, such as GPS.
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41
A CPU based lidar sensor.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
A segmentation camera sensor.
SDF Element class.
Definition: Element.hh:73
namespace for Simulation Description Format parser
Definition: Actor.hh:33
Imu contains information about an imu sensor.
Definition: Imu.hh:33
A wide angle camera sensor.