GpsSensor.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
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15  *
16 */
17 #ifndef _GAZEBO_SENSORS_GPSSENSOR_HH_
18 #define _GAZEBO_SENSORS_GPSSENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 
23 #include <ignition/math/Angle.hh>
24 #include <sdf/sdf.hh>
25 
26 #include "gazebo/sensors/Sensor.hh"
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace sensors
33  {
34  // Forward declare private data class
35  class GpsSensorPrivate;
36 
39 
43  {
45  public: GpsSensor();
46 
48  public: virtual ~GpsSensor();
49 
50  // Documentation inherited
51  public: virtual void Load(const std::string & _worldName,
52  sdf::ElementPtr _sdf);
53 
54  // Documentation inherited
55  public: virtual void Load(const std::string & _worldName);
56 
57  // Documentation inherited
58  public: virtual void Init();
59 
60  // Documentation inherited
61  protected: virtual bool UpdateImpl(const bool _force);
62 
63  // Documentation inherited
64  public: virtual void Fini();
65 
68  public: ignition::math::Angle Longitude() const;
69 
72  public: ignition::math::Angle Latitude() const;
73 
76  public: double Altitude() const;
77 
80  private: std::unique_ptr<GpsSensorPrivate> dataPtr;
81  };
83  }
84 }
85 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Forward declarations and typedefs for sensors.
GpsSensor to provide position measurement.
Definition: GpsSensor.hh:42
Base class for sensors.
Definition: Sensor.hh:51
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58