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17 #ifndef SDF_SENSOR_HH_
18 #define SDF_SENSOR_HH_
22 #include <gz/math/Pose3.hh>
31 inline namespace SDF_VERSION_NAMESPACE {
44 struct PoseRelativeToGraph;
148 public: std::string Name()
const;
153 public:
void SetName(
const std::string &_name);
157 public: std::string Topic()
const;
161 public:
void SetTopic(
const std::string &_topic);
165 public:
bool EnableMetrics()
const;
169 public:
void SetEnableMetrics(
bool _enableMetrics);
177 public:
const gz::math::Pose3d &Pose()
const
184 public:
void SetPose(
const gz::math::Pose3d &_pose)
192 public:
const gz::math::Pose3d &RawPose()
const;
197 public:
void SetRawPose(
const gz::math::Pose3d &_pose);
203 public:
const std::string &PoseRelativeTo()
const;
209 public:
void SetPoseRelativeTo(
const std::string &_frame);
216 public:
const std::string &PoseFrame()
const
224 public:
void SetPoseFrame(
const std::string &_frame)
252 public:
bool SetType(
const std::string &_typeStr);
256 public: std::string TypeStr()
const;
262 public:
double UpdateRate()
const;
268 public:
void SetUpdateRate(
double _hz);
283 public:
bool operator==(
const Sensor &_sensor)
const;
289 public:
bool operator!=(
const Sensor &_sensor)
const;
300 public:
void SetMagnetometerSensor(
const Magnetometer &_mag);
307 public:
const Altimeter *AltimeterSensor()
const;
311 public:
void SetAltimeterSensor(
const Altimeter &_alt);
318 public:
const AirPressure *AirPressureSensor()
const;
322 public:
void SetAirPressureSensor(
const AirPressure &_air);
326 public:
void SetCameraSensor(
const Camera &_cam);
333 public:
const Camera *CameraSensor()
const;
337 public:
void SetForceTorqueSensor(
const ForceTorque &_ft);
344 public:
const ForceTorque *ForceTorqueSensor()
const;
348 public:
void SetNavSatSensor(
const NavSat &_navsat);
355 public:
const NavSat *NavSatSensor()
const;
359 public:
void SetImuSensor(
const Imu &_imu);
366 public:
const Imu *ImuSensor()
const;
373 public:
const Lidar *LidarSensor()
const;
377 public:
void SetLidarSensor(
const Lidar &_lidar);
383 private:
void SetXmlParentName(
const std::string &_xmlParentName);
389 private:
void SetPoseRelativeToGraph(
390 std::weak_ptr<const PoseRelativeToGraph> _graph);
398 private: SensorPrivate *dataPtr =
nullptr;
@ GPU_LIDAR
A GPU based lidar sensor.
@ THERMAL_CAMERA
A thermal camera sensor.
@ MAGNETOMETER
A magnetometer sensor.
AirPressure contains information about a general purpose fluid pressure sensor.
Definition: AirPressure.hh:35
namespace for Simulation Description Format parser
Definition: Actor.hh:32
@ MULTICAMERA
A multicamera sensor.
ForceTorque contains information about a force torque sensor.
Definition: ForceTorque.hh:66
@ AIR_PRESSURE
An air pressure sensor.
Imu contains information about an imu sensor.
Definition: Imu.hh:35
@ NAVSAT
A NavSat sensor, such as GPS.
@ CAMERA
A monocular camera sensor.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
@ DEPTH_CAMERA
A depth camera sensor.
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
@ WIRELESS_RECEIVER
A wireless receiver.
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
@ FORCE_TORQUE
A force-torque sensor.
SensorType
Definition: Sensor.hh:50
Information about a monocular camera sensor.
Definition: Camera.hh:63
@ SONAR
A sonar tag sensor.
@ LIDAR
A CPU based lidar sensor.
NavSat contains information about a NavSat sensor.
Definition: NavSat.hh:76
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
@ LOGICAL_CAMERA
A logical camera sensor.
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
@ ALTIMETER
An altimeter sensor.
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:104
@ RGBD_CAMERA
An RGBD sensor, which produces both a color image and a depth image.
@ NONE
An unspecified sensor type.
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Altimeter contains information about an altimeter sensor.
Definition: Altimeter.hh:34
Magnetometer contains information about a magnetometer sensor.
Definition: Magnetometer.hh:34
@ CONTACT
A contact sensor.
Information about an SDF sensor.
Definition: Sensor.hh:121
@ WIRELESS_TRANSMITTER
A wireless transmitter.