Sensor.hh
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2  * Copyright 2018 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef SDF_SENSOR_HH_
18 #define SDF_SENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <gz/math/Pose3.hh>
23 #include "sdf/Element.hh"
24 #include "sdf/SemanticPose.hh"
25 #include "sdf/Types.hh"
26 #include "sdf/system_util.hh"
27 
28 namespace sdf
29 {
30  // Inline bracket to help doxygen filtering.
31  inline namespace SDF_VERSION_NAMESPACE {
32  //
33 
34  // Forward declarations.
35  class AirPressure;
36  class Altimeter;
37  class Camera;
38  class ForceTorque;
39  class Imu;
40  class Lidar;
41  class Magnetometer;
42  class NavSat;
43  class SensorPrivate;
44  struct PoseRelativeToGraph;
45 
48  // Developer note: Make sure to update sensorTypeStrs in the source file
49  // when changing this enum.
50  enum class SensorType
51  {
53  NONE = 0,
54 
56  ALTIMETER = 1,
57 
59  CAMERA = 2,
60 
62  CONTACT = 3,
63 
65  DEPTH_CAMERA = 4,
66 
68  FORCE_TORQUE = 5,
69 
71  GPS = 6,
72 
74  GPU_LIDAR = 7,
75 
77  IMU = 8,
78 
80  LOGICAL_CAMERA = 9,
81 
83  MAGNETOMETER = 10,
84 
86  MULTICAMERA = 11,
87 
89  LIDAR = 12,
90 
92  RFID = 13,
93 
95  RFIDTAG = 14,
96 
98  SONAR = 15,
99 
101  WIRELESS_RECEIVER = 16,
102 
105 
107  AIR_PRESSURE = 18,
108 
111  RGBD_CAMERA = 19,
112 
114  THERMAL_CAMERA = 20,
115 
117  NAVSAT = 21
118  };
119 
122  {
124  public: Sensor();
125 
128  public: Sensor(const Sensor &_sensor);
129 
132  public: Sensor(Sensor &&_sensor) noexcept;
133 
135  public: ~Sensor();
136 
143  public: Errors Load(ElementPtr _sdf);
144 
148  public: std::string Name() const;
149 
153  public: void SetName(const std::string &_name);
154 
157  public: std::string Topic() const;
158 
161  public: void SetTopic(const std::string &_topic);
162 
165  public: bool EnableMetrics() const;
166 
169  public: void SetEnableMetrics(bool _enableMetrics);
170 
177  public: const gz::math::Pose3d &Pose() const
178  SDF_DEPRECATED(9.0);
179 
184  public: void SetPose(const gz::math::Pose3d &_pose)
185  SDF_DEPRECATED(9.0);
186 
192  public: const gz::math::Pose3d &RawPose() const;
193 
197  public: void SetRawPose(const gz::math::Pose3d &_pose);
198 
203  public: const std::string &PoseRelativeTo() const;
204 
209  public: void SetPoseRelativeTo(const std::string &_frame);
210 
216  public: const std::string &PoseFrame() const
217  SDF_DEPRECATED(9.0);
218 
224  public: void SetPoseFrame(const std::string &_frame)
225  SDF_DEPRECATED(9.0);
226 
230  public: sdf::SemanticPose SemanticPose() const;
231 
236  public: sdf::ElementPtr Element() const;
237 
240  public: SensorType Type() const;
241 
244  public: void SetType(const SensorType _type);
245 
252  public: bool SetType(const std::string &_typeStr);
253 
256  public: std::string TypeStr() const;
257 
262  public: double UpdateRate() const;
263 
268  public: void SetUpdateRate(double _hz);
269 
273  public: Sensor &operator=(const Sensor &_sensor);
274 
278  public: Sensor &operator=(Sensor &&_sensor);
279 
283  public: bool operator==(const Sensor &_sensor) const;
284 
289  public: bool operator!=(const Sensor &_sensor) const;
290 
296  public: const Magnetometer *MagnetometerSensor() const;
297 
300  public: void SetMagnetometerSensor(const Magnetometer &_mag);
301 
307  public: const Altimeter *AltimeterSensor() const;
308 
311  public: void SetAltimeterSensor(const Altimeter &_alt);
312 
318  public: const AirPressure *AirPressureSensor() const;
319 
322  public: void SetAirPressureSensor(const AirPressure &_air);
323 
326  public: void SetCameraSensor(const Camera &_cam);
327 
333  public: const Camera *CameraSensor() const;
334 
337  public: void SetForceTorqueSensor(const ForceTorque &_ft);
338 
344  public: const ForceTorque *ForceTorqueSensor() const;
345 
348  public: void SetNavSatSensor(const NavSat &_navsat);
349 
355  public: const NavSat *NavSatSensor() const;
356 
359  public: void SetImuSensor(const Imu &_imu);
360 
366  public: const Imu *ImuSensor() const;
367 
373  public: const Lidar *LidarSensor() const;
374 
377  public: void SetLidarSensor(const Lidar &_lidar);
378 
383  private: void SetXmlParentName(const std::string &_xmlParentName);
384 
389  private: void SetPoseRelativeToGraph(
390  std::weak_ptr<const PoseRelativeToGraph> _graph);
391 
395  friend class Link;
396 
398  private: SensorPrivate *dataPtr = nullptr;
399  };
400  }
401 }
402 #endif
sdf::SDF_VERSION_NAMESPACE::SensorType::GPU_LIDAR
@ GPU_LIDAR
A GPU based lidar sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::THERMAL_CAMERA
@ THERMAL_CAMERA
A thermal camera sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::MAGNETOMETER
@ MAGNETOMETER
A magnetometer sensor.
sdf::v9::AirPressure
AirPressure contains information about a general purpose fluid pressure sensor.
Definition: AirPressure.hh:35
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:32
sdf::SDF_VERSION_NAMESPACE::SensorType::MULTICAMERA
@ MULTICAMERA
A multicamera sensor.
sdf::v9::ForceTorque
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:66
sdf::SDF_VERSION_NAMESPACE::SensorType::AIR_PRESSURE
@ AIR_PRESSURE
An air pressure sensor.
sdf::v9::Imu
Imu contains information about an imu sensor.
Definition: Imu.hh:35
sdf::SDF_VERSION_NAMESPACE::SensorType::NAVSAT
@ NAVSAT
A NavSat sensor, such as GPS.
Types.hh
sdf::SDF_VERSION_NAMESPACE::SensorType::CAMERA
@ CAMERA
A monocular camera sensor.
SemanticPose.hh
sdf::v9::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
sdf::SDF_VERSION_NAMESPACE::SensorType::DEPTH_CAMERA
@ DEPTH_CAMERA
A depth camera sensor.
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
sdf::SDF_VERSION_NAMESPACE::SensorType::GPS
@ GPS
A GPS sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::WIRELESS_RECEIVER
@ WIRELESS_RECEIVER
A wireless receiver.
sdf::SDF_VERSION_NAMESPACE::SensorType::RFIDTAG
@ RFIDTAG
An RFID tag.
sdf::v9::SDF_DEPRECATED
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
sdf::SDF_VERSION_NAMESPACE::SensorType::FORCE_TORQUE
@ FORCE_TORQUE
A force-torque sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::RFID
@ RFID
An RFID sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType
SensorType
Definition: Sensor.hh:50
sdf::SDF_VERSION_NAMESPACE::SensorType::IMU
@ IMU
An IMU sensor.
sdf::v9::Camera
Information about a monocular camera sensor.
Definition: Camera.hh:63
sdf::SDF_VERSION_NAMESPACE::SensorType::SONAR
@ SONAR
A sonar tag sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::LIDAR
@ LIDAR
A CPU based lidar sensor.
sdf::v9::NavSat
NavSat contains information about a NavSat sensor.
Definition: NavSat.hh:76
sdf::v9::SemanticPose
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
sdf::SDF_VERSION_NAMESPACE::SensorType::LOGICAL_CAMERA
@ LOGICAL_CAMERA
A logical camera sensor.
sdf::v9::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
sdf::SDF_VERSION_NAMESPACE::SensorType::ALTIMETER
@ ALTIMETER
An altimeter sensor.
sdf::v9::Lidar
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:104
sdf::SDF_VERSION_NAMESPACE::SensorType::RGBD_CAMERA
@ RGBD_CAMERA
An RGBD sensor, which produces both a color image and a depth image.
sdf::SDF_VERSION_NAMESPACE::SensorType::NONE
@ NONE
An unspecified sensor type.
system_util.hh
sdf::v9::Element
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
sdf::v9::Altimeter
Altimeter contains information about an altimeter sensor.
Definition: Altimeter.hh:34
sdf::v9::Magnetometer
Magnetometer contains information about a magnetometer sensor.
Definition: Magnetometer.hh:34
sdf::SDF_VERSION_NAMESPACE::SensorType::CONTACT
@ CONTACT
A contact sensor.
sdf::SDF_VERSION_NAMESPACE::Sensor
Information about an SDF sensor.
Definition: Sensor.hh:121
Element.hh
sdf::SDF_VERSION_NAMESPACE::SensorType::WIRELESS_TRANSMITTER
@ WIRELESS_TRANSMITTER
A wireless transmitter.