WirelessTransceiver.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
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13  * See the License for the specific language governing permissions and
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17 #ifndef _GAZEBO_SENSORS_WIRELESSTRANSCEIVER_HH_
18 #define _GAZEBO_SENSORS_WIRELESSTRANSCEIVER_HH_
19 
20 #include <string>
21 #include <ignition/math/Pose3.hh>
22 
25 #include "gazebo/sensors/Sensor.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace sensors
31  {
34 
38  {
40  public: WirelessTransceiver();
41 
43  public: ~WirelessTransceiver();
44 
45  // Documentation inherited
46  public: virtual std::string Topic() const;
47 
48  // Documentation inherited
49  public: virtual void Load(const std::string &_worldName);
50 
51  // Documentation inherited
52  public: virtual void Init();
53 
54  // Documentation inherited
55  public: virtual void Fini();
56 
59  public: double Gain() const;
60 
63  public: double Power() const;
64 
67 
69  protected: double power = 14.5;
70 
72  protected: double gain = 2.5;
73 
75  protected: boost::weak_ptr<physics::Link> parentEntity;
76 
78  protected: ignition::math::Pose3d referencePose;
79  };
81  }
82 }
83 #endif
Sensor class for receiving wireless signals.
Definition: WirelessTransceiver.hh:37
Forward declarations for the common classes.
Definition: Animation.hh:33
transport::PublisherPtr pub
Publisher to publish propagation model data.
Definition: WirelessTransceiver.hh:66
Forward declarations for transport.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
default namespace for gazebo
boost::weak_ptr< physics::Link > parentEntity
Parent entity which the sensor is attached to.
Definition: WirelessTransceiver.hh:75
ignition::math::Pose3d referencePose
Sensor reference pose.
Definition: WirelessTransceiver.hh:78
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Base class for sensors.
Definition: Sensor.hh:51
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58