SensorsIface.hh
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1 /*
2  * Copyright (C) 2012 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 _GAZEBO_SENSORSIFACE_HH_
18 #define _GAZEBO_SENSORSIFACE_HH_
19 
20 #include <string>
21 #include <sdf/sdf.hh>
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace sensors
28  {
31 
35  bool load();
36 
43  std::string create_sensor(sdf::ElementPtr _elem,
44  const std::string &_worldName, const std::string &_parentName,
45  uint32_t _parentId);
46 
50  void remove_sensor(const std::string &_sensorName);
51 
56  void run_once(bool _force = false);
57 
60  void run_threads();
61 
64  void stop();
65 
69  bool init();
70 
74  bool fini();
75 
79  bool remove_sensors();
80 
93  SensorPtr get_sensor(const std::string &_name);
94 
97  void disable();
98 
101  void enable();
103  }
104 }
105 #endif
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
GAZEBO_VISIBLE bool init()
initialize the sensor generation loop.
Forward declarations for the common classes.
Definition: Animation.hh:33
GAZEBO_VISIBLE bool remove_sensors()
Remove all sensors.
GAZEBO_VISIBLE void remove_sensor(const std::string &_sensorName)
Remove a sensor by name.
GAZEBO_VISIBLE void run_threads()
Run sensors in a threads. This is a non-blocking call.
GAZEBO_VISIBLE bool fini()
shutdown the sensor generation loop.
GAZEBO_VISIBLE void enable()
Enable sensors.
GAZEBO_VISIBLE void stop()
Stop the sensor generation loop.
GAZEBO_VISIBLE SensorPtr get_sensor(const std::string &_name)
Get a sensor using by name.
GAZEBO_VISIBLE bool load()
Load the sensor library.
Forward declarations and typedefs for sensors.
GAZEBO_VISIBLE void disable()
Disable sensors.
GAZEBO_VISIBLE std::string create_sensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
Create a sensor using SDF.
GAZEBO_VISIBLE void run_once(bool _force=false)
Run the sensor generation one step.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58