RenderingSensor Class Reference

a rendering sensor class More...

#include <RenderingSensor.hh>

Public Member Functions
virtual	~RenderingSensor ()
	destructor
bool	ManualSceneUpdate () const
	Get whether the scene graph is updated manually. Defaults to false.
void	Render ()
	Render update. This performs the actual render operation.
rendering::ScenePtr	Scene () const
	Get the rendering scene.
void	SetManualSceneUpdate (bool _manual)
	Set whether to update the scene graph manually. If set to true, it is expected that rendering::Scene::PreRender is called manually before calling Render()
virtual void	SetScene (rendering::ScenePtr _scene)
	Set the rendering scene.
Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor
void	AddSequence (gz::msgs::Header *_msg, const std::string &_seqKey="default")
	Add a sequence number to a gz::msgs::Header. This function can be called by a sensor that wants to add a sequence number to a sensor message in order to have improved accountability for generated sensor data.
bool	EnableMetrics () const
	Get flag state for enabling performance metrics publication.
const std::string &	FrameId () const
	FrameId.
virtual bool	HasConnections () const
	Check if there are any subscribers.
bool	HasPendingTrigger () const
	Whether the sensor has a pending trigger.
SensorId	Id () const
	Get the sensor's ID.
virtual bool	Init ()
	Initialize values in the sensor This will set the next update time to zero. This is particularly useful if simulation time has jumped backward, for example during a seek backward in a log file.
bool	IsActive () const
	Get whether the sensor is enabled or not.
bool	IsTriggered () const
	Whether the sensor trigger mode is enabled.
virtual bool	Load (const sdf::Sensor &_sdf)
	Load the sensor based on data from an sdf::Sensor object.
virtual bool	Load (sdf::ElementPtr _sdf)
	Load the sensor with SDF parameters.
const std::string &	Name () const
	Get name.
std::chrono::steady_clock::duration	NextDataUpdateTime () const
	Return the next time the sensor will generate data.
const std::string &	Parent () const
	Get parent link of the sensor.
gz::math::Pose3d	Pose () const
	Get the current pose.
void	PublishMetrics (const std::chrono::duration< double > &_now)
	Publishes information about the performance of the sensor. This method is called by Update().
sdf::ElementPtr	SDF () const
	Get the SDF used to load this sensor.
void	SetActive (bool _active)
	Enable or disable the sensor. Disabled sensors will not generate or publish data unless Update is called with the '_force' argument set to true.
void	SetEnableMetrics (bool _enableMetrics)
	Set flag to enable publishing performance metrics.
void	SetFrameId (const std::string &_frameId)
	Set Frame ID of the sensor.
void	SetNextDataUpdateTime (const std::chrono::steady_clock::duration &_time)
	Manually set the next time the sensor will generate data Useful for accomodating jumps backwards in time as well as specifying updates for non-uniformly updating sensors.
virtual void	SetParent (const std::string &_parent)
	Set the parent of the sensor.
void	SetPose (const gz::math::Pose3d &_pose)
	Update the pose of the sensor.
bool	SetTopic (const std::string &_topic)
	Set topic where sensor data is published.
bool	SetTriggered (bool _triggered, const std::string &_triggerTopic="")
	Enable or disable triggered mode. In this mode,.
void	SetUpdateRate (const double _hz)
	Set the update rate of the sensor. An update rate of zero means that the sensor is updated every cycle. It's zero by default.
const std::string &	Topic () const
	Get topic where sensor data is published.
virtual bool	Update (const std::chrono::steady_clock::duration &_now)=0
	Force the sensor to generate data.
bool	Update (const std::chrono::steady_clock::duration &_now, const bool _force)
	Update the sensor.
double	UpdateRate () const
	Get the update rate of the sensor.

Protected Member Functions
	RenderingSensor ()
	constructor
void	AddSensor (rendering::SensorPtr _sensor)
	Add a rendering::Sensor. Its render updates will be handled by this base class.
Protected Member Functions inherited from Sensor
	Sensor ()
	constructor

Detailed Description

a rendering sensor class

This class is a base for all rendering sensor classes. It provides interface to Gazebo Rendering objects

Constructor & Destructor Documentation

RenderingSensor()

RenderingSensor ( )

protected

constructor

~RenderingSensor()

virtual ~RenderingSensor ( )

virtual

destructor

Member Function Documentation

AddSensor()

void AddSensor ( rendering::SensorPtr  _sensor )

protected

Add a rendering::Sensor. Its render updates will be handled by this base class.

Parameters

[in]

_sensor

Sensor to add.

ManualSceneUpdate()

bool ManualSceneUpdate

(

)

const

Get whether the scene graph is updated manually. Defaults to false.

Returns

True if manual scene graph update is enabled, false otherwise

See also

SetManualSceneUpdate

Render()

void Render

(

)

Render update. This performs the actual render operation.

Scene()

rendering::ScenePtr Scene

(

)

const

Get the rendering scene.

SetManualSceneUpdate()

void SetManualSceneUpdate

(

bool

_manual

)

Set whether to update the scene graph manually. If set to true, it is expected that rendering::Scene::PreRender is called manually before calling Render()

Parameters

[in]

_manual

True to enable manual scene graph update

SetScene()

virtual void SetScene ( rendering::ScenePtr  _scene )

virtual

Set the rendering scene.

Parameters

[in]

_scene

Pointer to the scene

Reimplemented in BoundingBoxCameraSensor.

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

• RenderingSensor.hh