Ignition Gazebo

API Reference

3.7.0
Sensors.hh
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1 /*
2  * Copyright (C) 2018 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef IGNITION_GAZEBO_SYSTEMS_SENSORS_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_SENSORS_HH_
19 
20 #include <memory>
21 #include <string>
22 
23 #include <ignition/gazebo/config.hh>
24 #include <ignition/gazebo/Export.hh>
26 #include <sdf/Sensor.hh>
27 
28 namespace ignition
29 {
30 namespace gazebo
31 {
32 // Inline bracket to help doxygen filtering.
33 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
34 namespace systems
35 {
36  // Forward declarations.
37  class SensorsPrivate;
38 
42  class Sensors:
43  public System,
44  public ISystemConfigure,
45  public ISystemPostUpdate
46  {
48  public: explicit Sensors();
49 
51  public: ~Sensors() override;
52 
53  // Documentation inherited
54  public: void Configure(const Entity &_id,
57  EventManager &_eventMgr) final;
58 
59  // Documentation inherited
60  public: void PostUpdate(const UpdateInfo &_info,
61  const EntityComponentManager &_ecm) final;
62 
67  private : std::string CreateSensor(const sdf::Sensor &_sdf,
68  const std::string &_parentName);
69 
71  private: std::unique_ptr<SensorsPrivate> dataPtr;
72  };
73  }
74 }
75 }
76 }
77 #endif
Interface for a system that uses the PostUpdate phase.
Definition: System.hh:119
Information passed to systems on the update callback.
Definition: Types.hh:37
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:64
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:50
Interface for a system that implements optional configuration.
Definition: System.hh:88
TODO(louise) Have one system for all sensors, or one per sensor / sensor type?
Definition: Sensors.hh:42
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59
Component< NoData, class SensorTag > Sensor
A component that identifies an entity as being a link.
Definition: Sensor.hh:35
Base class for a System.
Definition: System.hh:73