gazebo::sensors Namespace Reference

Sensors namespace. More...

Classes

class  AltimeterSensor
 AltimeterSensor to provide vertical position and velocity. More...
 
class  CameraSensor
 Basic camera sensor. More...
 
class  ContactSensor
 Contact sensor. More...
 
class  DepthCameraSensor
 
class  ForceTorqueSensor
 Sensor for measure force and torque on a joint. More...
 
class  GaussianNoiseModel
 Gaussian noise class. More...
 
class  GpsSensor
 GpsSensor to provide position measurement. More...
 
class  GpuRaySensor
 GPU based laser sensor. More...
 
class  ImageGaussianNoiseModel
 
class  ImuSensor
 An IMU sensor. More...
 
class  LogicalCameraSensor
 A camera sensor that reports locations of objects instead of rendering a scene. More...
 
class  MagnetometerSensor
 MagnetometerSensor to provide magnetic field measurement. More...
 
class  MultiCameraSensor
 Multiple camera sensor. More...
 
class  Noise
 Noise models for sensor output signals. More...
 
class  NoiseFactory
 Use this noise manager for creating and loading noise models. More...
 
class  RaySensor
 Sensor with one or more rays. More...
 
class  RFIDSensor
 Sensor class for RFID type of sensor. More...
 
class  RFIDTag
 RFIDTag to interact with RFIDTagSensors. More...
 
class  Sensor
 Base class for sensors. More...
 
class  SensorFactory
 
class  SensorManager
 Class to manage and update all sensors. More...
 
class  SonarSensor
 Sensor with sonar cone. More...
 
class  WideAngleCameraSensor
 Camera sensor with variable mapping function. More...
 
class  WirelessReceiver
 Sensor class for receiving wireless signals. More...
 
class  WirelessTransceiver
 Sensor class for receiving wireless signals. More...
 
class  WirelessTransmitter
 Transmitter to send wireless signals. More...
 

Typedefs

typedef std::vector< AltimeterSensorAltimeterSensor_V
 
typedef std::shared_ptr< AltimeterSensorAltimeterSensorPtr
 
typedef std::vector< CameraSensorPtrCameraSensor_V
 
typedef std::shared_ptr< CameraSensorCameraSensorPtr
 
typedef std::vector< ContactSensorPtrContactSensor_V
 
typedef std::shared_ptr< ContactSensorContactSensorPtr
 
typedef std::vector< DepthCameraSensorPtrDepthCameraSensor_V
 
typedef std::shared_ptr< DepthCameraSensorDepthCameraSensorPtr
 
typedef std::shared_ptr< ForceTorqueSensorForceTorqueSensorPtr
 
typedef std::shared_ptr< GaussianNoiseModelGaussianNoiseModelPtr
 
typedef std::shared_ptr< GpsSensorGpsSensorPtr
 
typedef std::vector< GpuRaySensorPtrGpuRaySensor_V
 
typedef std::shared_ptr< GpuRaySensorGpuRaySensorPtr
 
typedef std::shared_ptr< ImageGaussianNoiseModelImageGaussianNoiseModelPtr
 Shared pointer to Noise. More...
 
typedef std::vector< ImuSensorPtrImuSensor_V
 
typedef std::shared_ptr< ImuSensorImuSensorPtr
 
typedef std::shared_ptr< LogicalCameraSensorLogicalCameraSensorPtr
 
typedef std::shared_ptr< MagnetometerSensorMagnetometerSensorPtr
 
typedef std::vector< MultiCameraSensorPtrMultiCameraSensor_V
 
typedef std::shared_ptr< MultiCameraSensorMultiCameraSensorPtr
 
typedef std::shared_ptr< NoiseNoisePtr
 
typedef std::vector< RaySensorPtrRaySensor_V
 
typedef std::shared_ptr< RaySensorRaySensorPtr
 
typedef std::vector< RFIDSensorRFIDSensor_V
 
typedef std::shared_ptr< RFIDSensorRFIDSensorPtr
 
typedef std::vector< RFIDTagRFIDTag_V
 
typedef std::shared_ptr< RFIDTagRFIDTagPtr
 
typedef std::vector< SensorPtrSensor_V
 
typedef Sensor *(* SensorFactoryFn) ()
 
typedef std::shared_ptr< SensorSensorPtr
 
typedef std::shared_ptr< SonarSensorSonarSensorPtr
 
typedef std::shared_ptr< WideAngleCameraSensorWideAngleCameraSensorPtr
 
typedef std::vector< WirelessReceiverWirelessReceiver_V
 
typedef std::shared_ptr< WirelessReceiverWirelessReceiverPtr
 
typedef std::vector< WirelessTransceiverWirelessTransceiver_V
 
typedef std::shared_ptr< WirelessTransceiverWirelessTransceiverPtr
 
typedef std::vector< WirelessTransmitterWirelessTransmitter_V
 
typedef std::shared_ptr< WirelessTransmitterWirelessTransmitterPtr
 

Enumerations

enum  SensorCategory { IMAGE = 0, RAY = 1, OTHER = 2, CATEGORY_COUNT = 3 }
 SensorCategory is used to categorize sensors. More...
 
enum  SensorNoiseType {
  SENSOR_NOISE_TYPE_BEGIN = 0, NO_NOISE = SENSOR_NOISE_TYPE_BEGIN, CAMERA_NOISE = 1, GPU_RAY_NOISE = 2,
  GPS_POSITION_LATITUDE_NOISE_METERS = 3, GPS_POSITION_LONGITUDE_NOISE_METERS = 4, GPS_POSITION_ALTITUDE_NOISE_METERS = 5, GPS_VELOCITY_LATITUDE_NOISE_METERS = 6,
  GPS_VELOCITY_LONGITUDE_NOISE_METERS = 7, GPS_VELOCITY_ALTITUDE_NOISE_METERS = 8, RAY_NOISE = 9, MAGNETOMETER_X_NOISE_TESLA = 10,
  MAGNETOMETER_Y_NOISE_TESLA = 11, MAGNETOMETER_Z_NOISE_TESLA = 12, ALTIMETER_POSITION_NOISE_METERS = 13, ALTIMETER_VELOCITY_NOISE_METERS_PER_S = 14,
  IMU_ANGVEL_X_NOISE_RADIANS_PER_S = 15, IMU_ANGVEL_Y_NOISE_RADIANS_PER_S = 16, IMU_ANGVEL_Z_NOISE_RADIANS_PER_S = 17, IMU_LINACC_X_NOISE_METERS_PER_S_SQR = 18,
  IMU_LINACC_Y_NOISE_METERS_PER_S_SQR = 19, IMU_LINACC_Z_NOISE_METERS_PER_S_SQR = 20, SENSOR_NOISE_TYPE_END
}
 

Functions

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. More...
 
GAZEBO_VISIBLE void disable ()
 Disable sensors. More...
 
GAZEBO_VISIBLE void enable ()
 Enable sensors. More...
 
GAZEBO_VISIBLE bool fini ()
 shutdown the sensor generation loop. More...
 
GAZEBO_VISIBLE SensorPtr get_sensor (const std::string &_name)
 Get a sensor using by name. More...
 
GAZEBO_VISIBLE bool init ()
 initialize the sensor generation loop. More...
 
GAZEBO_VISIBLE bool load ()
 Load the sensor library. More...
 
GAZEBO_VISIBLE void remove_sensor (const std::string &_sensorName)
 Remove a sensor by name. More...
 
GAZEBO_VISIBLE bool remove_sensors ()
 Remove all sensors. More...
 
GAZEBO_VISIBLE void run_once (bool _force=false)
 Run the sensor generation one step. More...
 
GAZEBO_VISIBLE void run_threads ()
 Run sensors in a threads. This is a non-blocking call. More...
 
GAZEBO_VISIBLE void stop ()
 Stop the sensor generation loop. More...
 

Detailed Description

Sensors namespace.

Typedef Documentation

typedef std::vector<AltimeterSensor> AltimeterSensor_V
typedef std::shared_ptr<AltimeterSensor> AltimeterSensorPtr
typedef std::vector<CameraSensorPtr> CameraSensor_V
typedef std::shared_ptr<CameraSensor> CameraSensorPtr
typedef std::vector<ContactSensorPtr> ContactSensor_V
typedef std::shared_ptr<ContactSensor> ContactSensorPtr
typedef std::shared_ptr<DepthCameraSensor> DepthCameraSensorPtr
typedef std::shared_ptr<ForceTorqueSensor> ForceTorqueSensorPtr
typedef std::shared_ptr<GaussianNoiseModel> GaussianNoiseModelPtr
typedef std::shared_ptr<GpsSensor> GpsSensorPtr
typedef std::vector<GpuRaySensorPtr> GpuRaySensor_V
typedef std::shared_ptr<GpuRaySensor> GpuRaySensorPtr

Shared pointer to Noise.

typedef std::vector<ImuSensorPtr> ImuSensor_V
typedef std::shared_ptr<ImuSensor> ImuSensorPtr
typedef std::shared_ptr<LogicalCameraSensor> LogicalCameraSensorPtr
typedef std::shared_ptr<MagnetometerSensor> MagnetometerSensorPtr
typedef std::shared_ptr<MultiCameraSensor> MultiCameraSensorPtr
typedef std::shared_ptr<Noise> NoisePtr
typedef std::vector<RaySensorPtr> RaySensor_V
typedef std::shared_ptr<RaySensor> RaySensorPtr
typedef std::vector<RFIDSensor> RFIDSensor_V
typedef std::shared_ptr<RFIDSensor> RFIDSensorPtr
typedef std::vector<RFIDTag> RFIDTag_V
typedef std::shared_ptr<RFIDTag> RFIDTagPtr
typedef std::vector<SensorPtr> Sensor_V
typedef Sensor*(* SensorFactoryFn) ()
typedef std::shared_ptr<Sensor> SensorPtr
typedef std::shared_ptr<SonarSensor> SonarSensorPtr
typedef std::vector<WirelessReceiver> WirelessReceiver_V
typedef std::shared_ptr<WirelessReceiver> WirelessReceiverPtr
typedef std::shared_ptr<WirelessTransceiver> WirelessTransceiverPtr
typedef std::shared_ptr<WirelessTransmitter> WirelessTransmitterPtr

Enumeration Type Documentation

SensorCategory is used to categorize sensors.

This is used to put sensors into different threads.

Enumerator
IMAGE 

Image based sensor class.

This type requires the rendering engine.

RAY 

Ray based sensor class.

OTHER 

A type of sensor is not a RAY or IMAGE sensor.

CATEGORY_COUNT 

Number of Sensor Categories.

Enumerator
SENSOR_NOISE_TYPE_BEGIN 
NO_NOISE 

Noise streams for the Camera sensor.

See also
CameraSensor
CAMERA_NOISE 

Noise streams for the Camera sensor.

See also
CameraSensor
GPU_RAY_NOISE 

Noise streams for the GPU ray sensor.

See also
GpuRaySensor
GPS_POSITION_LATITUDE_NOISE_METERS 

GPS position latitude noise streams.

See also
GpsSensor
GPS_POSITION_LONGITUDE_NOISE_METERS 

GPS position longitude noise streams.

See also
GpsSensor
GPS_POSITION_ALTITUDE_NOISE_METERS 

GPS position altitude noise streams.

See also
GpsSensor
GPS_VELOCITY_LATITUDE_NOISE_METERS 

GPS velocity latitude noise streams.

See also
GpsSensor
GPS_VELOCITY_LONGITUDE_NOISE_METERS 

GPS velocity longitude noise streams.

See also
GpsSensor
GPS_VELOCITY_ALTITUDE_NOISE_METERS 

GPS velocity altitude noise streams.

See also
GpsSensor
RAY_NOISE 

Noise streams for the ray sensor.

See also
RaySensor
MAGNETOMETER_X_NOISE_TESLA 

Magnetometer body-frame X axis noise in Tesla.

See also
MagnetometerSensor
MAGNETOMETER_Y_NOISE_TESLA 

Magnetometer body-frame Y axis noise in Tesla.

See also
MagnetometerSensor
MAGNETOMETER_Z_NOISE_TESLA 

Magnetometer body-frame Z axis noise in Tesla.

See also
MagnetometerSensor
ALTIMETER_POSITION_NOISE_METERS 

Vertical noise stream for the altimeter sensor.

See also
AltimeterSensor
ALTIMETER_VELOCITY_NOISE_METERS_PER_S 

Velocity noise streams for the altimeter sensor.

See also
AltimeterSensor
IMU_ANGVEL_X_NOISE_RADIANS_PER_S 

IMU angular velocity X noise stream.

See also
ImuSensor
IMU_ANGVEL_Y_NOISE_RADIANS_PER_S 

IMU angular velocity Y noise stream.

See also
ImuSensor
IMU_ANGVEL_Z_NOISE_RADIANS_PER_S 

IMU angular velocity Z noise stream.

See also
ImuSensor
IMU_LINACC_X_NOISE_METERS_PER_S_SQR 

IMU linear acceleration X noise stream.

See also
ImuSensor
IMU_LINACC_Y_NOISE_METERS_PER_S_SQR 

IMU linear acceleration Y noise stream.

See also
ImuSensor
IMU_LINACC_Z_NOISE_METERS_PER_S_SQR 

IMU linear acceleration Z noise stream.

See also
ImuSensor
SENSOR_NOISE_TYPE_END