Information about an SDF sensor. More...

#include <Sensor.hh>

Public Member Functions
	Sensor ()
	Default constructor.

void	AddPlugin (const Plugin &_plugin)
	Add a plugin to this object.

AirPressure *	AirPressureSensor ()
	Get a mutable air pressure sensor, or nullptr if this sensor type is not an AirPressure sensor.

const AirPressure *	AirPressureSensor () const
	Get the air pressure sensor, or nullptr if this sensor type is not an AirPressure sensor.

AirSpeed *	AirSpeedSensor ()
	Get a mutable air speed sensor, or nullptr if this sensor type is not an AirSpeed sensor.

const AirSpeed *	AirSpeedSensor () const
	Get the air speed sensor, or nullptr if this sensor type is not an AirSpeed sensor.

Altimeter *	AltimeterSensor ()
	Get a mutable altimeter sensor, or nullptr if this sensor type is not an Altimeter.

const Altimeter *	AltimeterSensor () const
	Get the altimeter sensor, or nullptr if this sensor type is not an Altimeter.

Camera *	CameraSensor ()
	Get a mutable camera sensor, or nullptr if the sensor does not contain a camera sensor.

const Camera *	CameraSensor () const
	Get a pointer to a camera sensor, or nullptr if the sensor does not contain a camera sensor.

void	ClearPlugins ()
	Remove all plugins.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.

bool	EnableMetrics () const
	Get flag state for enabling performance metrics publication.

ForceTorque *	ForceTorqueSensor ()
	Get a mutable force torque sensor, or nullptr if the sensor does not contain a force torque sensor.

const ForceTorque *	ForceTorqueSensor () const
	Get a pointer to a force torque sensor, or nullptr if the sensor does not contain a force torque sensor.

std::string	FrameId () const
	Get the frame ID of the sensor.

Imu *	ImuSensor ()
	Get a mutable IMU sensor, or nullptr if the sensor does not contain an IMU sensor.

const Imu *	ImuSensor () const
	Get a pointer to an IMU sensor, or nullptr if the sensor does not contain an IMU sensor.

Lidar *	LidarSensor ()
	Get a mutable lidar sensor, or nullptr if this sensor type is not a Lidar.

const Lidar *	LidarSensor () const
	Get the lidar sensor, or nullptr if this sensor type is not a Lidar.

Errors	Load (ElementPtr _sdf)
	Load the sensor based on a element pointer.

Magnetometer *	MagnetometerSensor ()
	Get a mutable magnetometer sensor, or nullptr if this sensor type is not a Magnetometer.

const Magnetometer *	MagnetometerSensor () const
	Get the magnetometer sensor, or nullptr if this sensor type is not a Magnetometer.

std::string	Name () const
	Get the name of the sensor.

NavSat *	NavSatSensor ()
	Get a mutable NAVSAT sensor, or nullptr if the sensor does not contain an NAVSAT sensor.

const NavSat *	NavSatSensor () const
	Get a pointer to a NAVSAT sensor, or nullptr if the sensor does not contain an NAVSAT sensor.

bool	operator!= (const Sensor &_sensor) const
	Return true this Sensor object does not contain the same values as the passed in parameter.

bool	operator== (const Sensor &_sensor) const
	Return true if both Sensor objects contain the same values.

sdf::Plugins &	Plugins ()
	Get a mutable vector of plugins attached to this object.

const sdf::Plugins &	Plugins () const
	Get the plugins attached to this object.

const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this object's pose is expressed.

const gz::math::Pose3d &	RawPose () const
	Get the pose of the sensor.

sdf::SemanticPose	SemanticPose () const
	Get SemanticPose object of this object to aid in resolving poses.

void	SetAirPressureSensor (const AirPressure &_air)
	Set the air pressure sensor.

void	SetAirSpeedSensor (const AirSpeed &_air)
	Set the air pressure sensor.

void	SetAltimeterSensor (const Altimeter &_alt)
	Set the altimeter sensor.

void	SetCameraSensor (const Camera &_cam)
	Set the camera sensor.

void	SetEnableMetrics (bool _enableMetrics)
	Set flag to enable publishing performance metrics.

void	SetForceTorqueSensor (const ForceTorque &_ft)
	Set the force torque sensor.

void	SetFrameId (const std::string &_frameId)
	Set the frame ID of the sensor.

void	SetImuSensor (const Imu &_imu)
	Set the IMU sensor.

void	SetLidarSensor (const Lidar &_lidar)
	Set the lidar sensor.

void	SetMagnetometerSensor (const Magnetometer &_mag)
	Set the magnetometer sensor.

void	SetName (const std::string &_name)
	Set the name of the sensor.

void	SetNavSatSensor (const NavSat &_navsat)
	Set the NAVSAT sensor.

void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this object's pose is expressed.

void	SetRawPose (const gz::math::Pose3d &_pose)
	Set the pose of the sensor.

void	SetTopic (const std::string &_topic)
	Set the topic on which sensor data should be published.

void	SetType (const SensorType _type)
	Set the sensor type.

bool	SetType (const std::string &_typeStr)
	Set the sensor type from a string.

void	SetUpdateRate (double _hz)
	Set the update rate.

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this sensor.

sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this sensor.

std::string	Topic () const
	Get the topic on which sensor data should be published.

SensorType	Type () const
	Get the sensor type.

std::string	TypeStr () const
	Get the sensor type as a string.

double	UpdateRate () const
	Get the update rate in Hz.

Detailed Description

Information about an SDF sensor.

Constructor & Destructor Documentation

◆ Sensor()

sdf::SDF_VERSION_NAMESPACE::Sensor::Sensor ( )

Default constructor.

Member Function Documentation

◆ AddPlugin()

void sdf::SDF_VERSION_NAMESPACE::Sensor::AddPlugin ( const Plugin & _plugin )

Add a plugin to this object.

Parameters

[in] _plugin Plugin to add.

◆ AirPressureSensor() [1/2]

AirPressure * sdf::SDF_VERSION_NAMESPACE::Sensor::AirPressureSensor ( )

Get a mutable air pressure sensor, or nullptr if this sensor type is not an AirPressure sensor.

Returns: Pointer to the AirPressure sensor, or nullptr if this Sensor is not a AirPressure sensor.

See also: SensorType Type() const

◆ AirPressureSensor() [2/2]

const AirPressure * sdf::SDF_VERSION_NAMESPACE::Sensor::AirPressureSensor ( ) const

Get the air pressure sensor, or nullptr if this sensor type is not an AirPressure sensor.

Returns: Pointer to the AirPressure sensor, or nullptr if this Sensor is not a AirPressure sensor.

See also: SensorType Type() const

◆ AirSpeedSensor() [1/2]

AirSpeed * sdf::SDF_VERSION_NAMESPACE::Sensor::AirSpeedSensor ( )

Get a mutable air speed sensor, or nullptr if this sensor type is not an AirSpeed sensor.

Returns: Pointer to the AirSpeed sensor, or nullptr if this Sensor is not a AirSpeed sensor.

See also: SensorType Type() const

◆ AirSpeedSensor() [2/2]

const AirSpeed * sdf::SDF_VERSION_NAMESPACE::Sensor::AirSpeedSensor ( ) const

Get the air speed sensor, or nullptr if this sensor type is not an AirSpeed sensor.

Returns: Pointer to the AirSpeed sensor, or nullptr if this Sensor is not a AirSpeed sensor.

See also: SensorType Type() const

◆ AltimeterSensor() [1/2]

Altimeter * sdf::SDF_VERSION_NAMESPACE::Sensor::AltimeterSensor ( )

Get a mutable altimeter sensor, or nullptr if this sensor type is not an Altimeter.

Returns: Pointer to the Altimeter sensor, or nullptr if this Sensor is not a Altimeter.

See also: SensorType Type() const

◆ AltimeterSensor() [2/2]

const Altimeter * sdf::SDF_VERSION_NAMESPACE::Sensor::AltimeterSensor ( ) const

Get the altimeter sensor, or nullptr if this sensor type is not an Altimeter.

Returns: Pointer to the Altimeter sensor, or nullptr if this Sensor is not a Altimeter.

See also: SensorType Type() const

◆ CameraSensor() [1/2]

Camera * sdf::SDF_VERSION_NAMESPACE::Sensor::CameraSensor ( )

Get a mutable camera sensor, or nullptr if the sensor does not contain a camera sensor.

Returns: Pointer to the sensor's camera, or nullptr if the sensor is not a camera.

See also: SensorType Type() const

◆ CameraSensor() [2/2]

const Camera * sdf::SDF_VERSION_NAMESPACE::Sensor::CameraSensor ( ) const

Get a pointer to a camera sensor, or nullptr if the sensor does not contain a camera sensor.

Returns: Pointer to the sensor's camera, or nullptr if the sensor is not a camera.

See also: SensorType Type() const

◆ ClearPlugins()

void sdf::SDF_VERSION_NAMESPACE::Sensor::ClearPlugins ( )

Remove all plugins.

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Sensor::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ EnableMetrics()

bool sdf::SDF_VERSION_NAMESPACE::Sensor::EnableMetrics ( ) const

Get flag state for enabling performance metrics publication.

Returns: True if performance metrics are enabled, false otherwise.

◆ ForceTorqueSensor() [1/2]

ForceTorque * sdf::SDF_VERSION_NAMESPACE::Sensor::ForceTorqueSensor ( )

Get a mutable force torque sensor, or nullptr if the sensor does not contain a force torque sensor.

Returns: Pointer to the force torque sensor, or nullptr if the sensor is not a force torque sensor.

See also: SensorType Type() const

◆ ForceTorqueSensor() [2/2]

const ForceTorque * sdf::SDF_VERSION_NAMESPACE::Sensor::ForceTorqueSensor ( ) const

Get a pointer to a force torque sensor, or nullptr if the sensor does not contain a force torque sensor.

Returns: Pointer to the force torque sensor, or nullptr if the sensor is not a force torque sensor.

See also: SensorType Type() const

◆ FrameId()

std::string sdf::SDF_VERSION_NAMESPACE::Sensor::FrameId ( ) const

Get the frame ID of the sensor.

Returns: Sensor frame ID.

◆ ImuSensor() [1/2]

Imu * sdf::SDF_VERSION_NAMESPACE::Sensor::ImuSensor ( )

Get a mutable IMU sensor, or nullptr if the sensor does not contain an IMU sensor.

Returns: Pointer to the sensor's IMU, or nullptr if the sensor is not an IMU.

See also: SensorType Type() const

◆ ImuSensor() [2/2]

const Imu * sdf::SDF_VERSION_NAMESPACE::Sensor::ImuSensor ( ) const

Get a pointer to an IMU sensor, or nullptr if the sensor does not contain an IMU sensor.

Returns: Pointer to the sensor's IMU, or nullptr if the sensor is not an IMU.

See also: SensorType Type() const

◆ LidarSensor() [1/2]

Lidar * sdf::SDF_VERSION_NAMESPACE::Sensor::LidarSensor ( )

Get a mutable lidar sensor, or nullptr if this sensor type is not a Lidar.

Returns: Pointer to the Lidar sensor, or nullptr if this Sensor is not a Lidar.

See also: SensorType Type() const

◆ LidarSensor() [2/2]

const Lidar * sdf::SDF_VERSION_NAMESPACE::Sensor::LidarSensor ( ) const

Get the lidar sensor, or nullptr if this sensor type is not a Lidar.

Returns: Pointer to the Lidar sensor, or nullptr if this Sensor is not a Lidar.

See also: SensorType Type() const

◆ Load()

Errors sdf::SDF_VERSION_NAMESPACE::Sensor::Load ( ElementPtr _sdf )

Load the sensor based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in] _sdf The SDF Element pointer

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ MagnetometerSensor() [1/2]

Magnetometer * sdf::SDF_VERSION_NAMESPACE::Sensor::MagnetometerSensor ( )

Get a mutable magnetometer sensor, or nullptr if this sensor type is not a Magnetometer.

Returns: Pointer to the Magnetometer sensor, or nullptr if this Sensor is not a Magnetometer.

See also: SensorType Type() const

◆ MagnetometerSensor() [2/2]

const Magnetometer * sdf::SDF_VERSION_NAMESPACE::Sensor::MagnetometerSensor ( ) const

Get the magnetometer sensor, or nullptr if this sensor type is not a Magnetometer.

Returns: Pointer to the Magnetometer sensor, or nullptr if this Sensor is not a Magnetometer.

See also: SensorType Type() const

◆ Name()

std::string sdf::SDF_VERSION_NAMESPACE::Sensor::Name ( ) const

Get the name of the sensor.

The name of the sensor should be unique within the scope of a World.

Returns: Name of the sensor.

◆ NavSatSensor() [1/2]

NavSat * sdf::SDF_VERSION_NAMESPACE::Sensor::NavSatSensor ( )

Get a mutable NAVSAT sensor, or nullptr if the sensor does not contain an NAVSAT sensor.

Returns: Pointer to the sensor's NAVSAT, or nullptr if the sensor is not an NAVSAT.

See also: SensorType Type() const

◆ NavSatSensor() [2/2]

const NavSat * sdf::SDF_VERSION_NAMESPACE::Sensor::NavSatSensor ( ) const

Get a pointer to a NAVSAT sensor, or nullptr if the sensor does not contain an NAVSAT sensor.

Returns: Pointer to the sensor's NAVSAT, or nullptr if the sensor is not an NAVSAT.

See also: SensorType Type() const

◆ operator!=()

bool sdf::SDF_VERSION_NAMESPACE::Sensor::operator!= ( const Sensor & _sensor ) const

Return true this Sensor object does not contain the same values as the passed in parameter.

Parameters

[_in] _sensor Sensor object to compare. \returen True if 'this' != _sensor.

◆ operator==()

bool sdf::SDF_VERSION_NAMESPACE::Sensor::operator== ( const Sensor & _sensor ) const

Return true if both Sensor objects contain the same values.

Parameters

[_in] _sensor Sensor object to compare. \returen True if 'this' == _sensor.

◆ Plugins() [1/2]

sdf::Plugins & sdf::SDF_VERSION_NAMESPACE::Sensor::Plugins ( )

Get a mutable vector of plugins attached to this object.

Returns: A vector of Plugin, which will be empty if there are no plugins.

◆ Plugins() [2/2]

const sdf::Plugins & sdf::SDF_VERSION_NAMESPACE::Sensor::Plugins ( ) const

Get the plugins attached to this object.

Returns: A vector of Plugin, which will be empty if there are no plugins.

◆ PoseRelativeTo()

const std::string & sdf::SDF_VERSION_NAMESPACE::Sensor::PoseRelativeTo ( ) const

Get the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent link/joint coordinate frame.

Returns: The name of the pose relative-to frame.

◆ RawPose()

const gz::math::Pose3d & sdf::SDF_VERSION_NAMESPACE::Sensor::RawPose ( ) const

Get the pose of the sensor.

This is the pose of the sensor as specified in SDF (<sensor> <pose> ... </pose></sensor>), and is typically used to express the position and rotation of a sensor in a global coordinate frame.

Returns: The pose of the sensor.

◆ SemanticPose()

sdf::SemanticPose sdf::SDF_VERSION_NAMESPACE::Sensor::SemanticPose ( ) const

Get SemanticPose object of this object to aid in resolving poses.

Returns: SemanticPose object for this link.

◆ SetAirPressureSensor()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetAirPressureSensor ( const AirPressure & _air )

Set the air pressure sensor.

Parameters

[in] _air The air pressure sensor.

◆ SetAirSpeedSensor()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetAirSpeedSensor ( const AirSpeed & _air )

Set the air pressure sensor.

Parameters

[in] _air The air pressure sensor.

◆ SetAltimeterSensor()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetAltimeterSensor ( const Altimeter & _alt )

Set the altimeter sensor.

Parameters

[in] _alt The altimeter sensor.

◆ SetCameraSensor()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetCameraSensor ( const Camera & _cam )

Set the camera sensor.

Parameters

[in] _cam The camera sensor.

◆ SetEnableMetrics()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetEnableMetrics ( bool _enableMetrics )

Set flag to enable publishing performance metrics.

Parameters

[in] _enableMetrics True to enable.

◆ SetForceTorqueSensor()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetForceTorqueSensor ( const ForceTorque & _ft )

Set the force torque sensor.

Parameters

[in] _ft The force torque sensor.

◆ SetFrameId()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetFrameId ( const std::string & _frameId )

Set the frame ID of the sensor.

Parameters

[in] _frameId Frame ID to set.

◆ SetImuSensor()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetImuSensor ( const Imu & _imu )

Set the IMU sensor.

Parameters

[in] _imu The IMU sensor.

◆ SetLidarSensor()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetLidarSensor ( const Lidar & _lidar )

Set the lidar sensor.

Parameters

[in] _lidar The lidar sensor.

◆ SetMagnetometerSensor()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetMagnetometerSensor ( const Magnetometer & _mag )

Set the magnetometer sensor.

Parameters

[in] _mag The magnetometer sensor.

◆ SetName()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetName ( const std::string & _name )

Set the name of the sensor.

The name of the sensor should be unique within the scope of a World.

Parameters

[in] _name Name of the sensor.

◆ SetNavSatSensor()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetNavSatSensor ( const NavSat & _navsat )

Set the NAVSAT sensor.

Parameters

[in] _navsat The NAVSAT sensor.

◆ SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetPoseRelativeTo ( const std::string & _frame )

Set the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent link/joint coordinate frame.

Parameters

[in] _frame The name of the pose relative-to frame.

◆ SetRawPose()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetRawPose ( const gz::math::Pose3d & _pose )

Set the pose of the sensor.

See also: const gz::math::Pose3d &RawPose() const

Parameters

[in] _pose The new sensor pose.

◆ SetTopic()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetTopic ( const std::string & _topic )

Set the topic on which sensor data should be published.

Parameters

[in] _topic Topic for this sensor's data.

◆ SetType() [1/2]

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetType ( const SensorType _type )

Set the sensor type.

Parameters

[in] _type The sensor type.

◆ SetType() [2/2]

bool sdf::SDF_VERSION_NAMESPACE::Sensor::SetType ( const std::string & _typeStr )

Set the sensor type from a string.

Parameters

[in] _typeStr The sensor type. A valid parameter should equal one of the enum value name in the SensorType enum. For example, "altimeter" or "camera".

Returns: True if the _typeStr parameter matched a known sensor type. False if the sensor type could not be set.

◆ SetUpdateRate()

void sdf::SDF_VERSION_NAMESPACE::Sensor::SetUpdateRate ( double _hz )

Set the update rate.

This is The frequency at which the sensor data is generated. If left unspecified (0.0), the sensor will generate data every cycle.

Parameters

[in] _rate The update rate in Hz.

◆ ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Sensor::ToElement ( ) const

Create and return an SDF element filled with data from this sensor.

Note that parameter passing functionality is not captured with this function.

Returns: SDF element pointer with updated sensor values.

◆ ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Sensor::ToElement ( sdf::Errors & _errors ) const

Create and return an SDF element filled with data from this sensor.

Note that parameter passing functionality is not captured with this function.

Parameters

[in] _errors Vector of errors.

Returns: SDF element pointer with updated sensor values.

◆ Topic()

std::string sdf::SDF_VERSION_NAMESPACE::Sensor::Topic ( ) const

Get the topic on which sensor data should be published.

Returns: Topic for this sensor's data.

◆ Type()

SensorType sdf::SDF_VERSION_NAMESPACE::Sensor::Type ( ) const

Get the sensor type.

Returns: The sensor type.

◆ TypeStr()

std::string sdf::SDF_VERSION_NAMESPACE::Sensor::TypeStr ( ) const

Get the sensor type as a string.

Returns: The sensor type as a string.

◆ UpdateRate()

double sdf::SDF_VERSION_NAMESPACE::Sensor::UpdateRate ( ) const

Get the update rate in Hz.

This is The frequency at which the sensor data is generated. If left unspecified (0.0), the sensor will generate data every cycle.

Returns: The update rate in Hz.

The documentation for this class was generated from the following file:

Sensor.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Sensor()

Member Function Documentation

◆ AddPlugin()

◆ AirPressureSensor() [1/2]

◆ AirPressureSensor() [2/2]

◆ AirSpeedSensor() [1/2]

◆ AirSpeedSensor() [2/2]

◆ AltimeterSensor() [1/2]

◆ AltimeterSensor() [2/2]

◆ CameraSensor() [1/2]

◆ CameraSensor() [2/2]

◆ ClearPlugins()

◆ Element()

◆ EnableMetrics()

◆ ForceTorqueSensor() [1/2]

◆ ForceTorqueSensor() [2/2]

◆ FrameId()

◆ ImuSensor() [1/2]

◆ ImuSensor() [2/2]

◆ LidarSensor() [1/2]

◆ LidarSensor() [2/2]

◆ Load()

◆ MagnetometerSensor() [1/2]

◆ MagnetometerSensor() [2/2]

◆ Name()

◆ NavSatSensor() [1/2]

◆ NavSatSensor() [2/2]

◆ operator!=()

◆ operator==()

◆ Plugins() [1/2]

◆ Plugins() [2/2]

◆ PoseRelativeTo()

◆ RawPose()

◆ SemanticPose()

◆ SetAirPressureSensor()

◆ SetAirSpeedSensor()

◆ SetAltimeterSensor()

◆ SetCameraSensor()

◆ SetEnableMetrics()

◆ SetForceTorqueSensor()

◆ SetFrameId()

◆ SetImuSensor()

◆ SetLidarSensor()

◆ SetMagnetometerSensor()

◆ SetName()

◆ SetNavSatSensor()

◆ SetPoseRelativeTo()

◆ SetRawPose()

◆ SetTopic()

◆ SetType() [1/2]

◆ SetType() [2/2]

◆ SetUpdateRate()

◆ ToElement() [1/2]

◆ ToElement() [2/2]

◆ Topic()

◆ Type()

◆ TypeStr()

◆ UpdateRate()