Sensors namespace. More...

Namespaces
namespace	GZ_SENSORS_VERSION_NAMESPACE

Classes
class	AirPressureSensor
	AirPressure Sensor Class. More...

class	AirSpeedSensor
	AirSpeed Sensor Class. More...

class	AltimeterSensor
	Altimeter Sensor Class. More...

class	BoundingBoxCameraSensor
	BoundingBox camera sensor class. More...

class	BrownDistortionModel
	Brown Distortion Model class. More...

class	CameraSensor
	Camera Sensor Class. More...

class	DepthCameraSensor
	Depth camera sensor class. More...

class	Distortion
	Distortion models for sensor output signals. More...

class	DistortionFactory
	Use this distortion manager for creating and loading distortion models. More...

class	DopplerVelocityLog
	Doppler velocity log (DVL) sensor, built as a custom rendering sensor to leverage GPU shaders for speed. More...

struct	EntityKinematicState
	Kinematic state for an entity in the world. More...

struct	EnvironmentalData
	Environment data across time and space. This is useful to introduce physical quantities that may be of interest even if not modelled in simulation. More...

class	ForceTorqueSensor
	Force Torque Sensor Class. More...

class	GaussianNoiseModel
	Gaussian noise class. More...

class	GpuLidarSensor
	GpuLidar Sensor Class. More...

class	ImageBrownDistortionModel
	Distortion Model class for image sensors. More...

class	ImageDistortionFactory
	Use this distortion manager for creating and loading distortion models. More...

class	ImageGaussianNoiseModel
	Gaussian noise class for image sensors. More...

class	ImageNoiseFactory

class	ImuSensor
	Imu Sensor Class. More...

class	Lidar
	Lidar Sensor Class. More...

class	LogicalCameraSensor
	Logical Camera Sensor Class. More...

class	MagnetometerSensor
	Magnetometer Sensor Class. More...

class	Manager
	Loads and runs sensors. More...

class	NavSatSensor
	NavSat Sensor Class. More...

class	Noise
	Noise models for sensor output signals. More...

class	NoiseFactory
	Use this noise manager for creating and loading noise models. More...

class	RenderingEvents

class	RenderingSensor
	a rendering sensor class More...

class	RgbdCameraSensor
	RGBD camera sensor class. More...

class	SegmentationCameraSensor
	Segmentation camera sensor class. More...

class	Sensor
	a base sensor class More...

class	SensorFactory
	A factory class for creating sensors This class instantiates sensor objects based on the sensor type and makes sure they're initialized correctly. More...

class	ThermalCameraSensor
	Thermal camera sensor class. More...

class	WideAngleCameraSensor
	Wide Angle camera sensor class. More...

struct	WorldState
	Kinematic state for all entities in the world. More...

Typedefs
typedef std::shared_ptr< BrownDistortionModel >	BrownDistortionModelPtr

typedef std::vector< CameraSensorPtr >	CameraSensor_V

typedef std::shared_ptr< CameraSensor >	CameraSensorPtr

typedef std::shared_ptr< Distortion >	DistortionPtr

typedef std::shared_ptr< GaussianNoiseModel >	GaussianNoiseModelPtr

typedef std::vector< GpuLidarSensorPtr >	GpuLidarSensor_V

typedef std::shared_ptr< GpuLidarSensor >	GpuLidarSensorPtr

typedef std::shared_ptr< ImageBrownDistortionModel >	ImageBrownDistortionModelPtr

typedef std::shared_ptr< ImageGaussianNoiseModel >	ImageGaussianNoiseModelPtr
	Shared pointer to Noise.

typedef std::shared_ptr< Noise >	NoisePtr

typedef std::vector< SensorPtr >	Sensor_V

using	SensorId = std::size_t
	A string used to identify a sensor.

typedef std::shared_ptr< Sensor >	SensorPtr

using	WorldKinematicState = std::unordered_map< uint64_t, EntityKinematicState >
	Kinematic state for all entities in the world.

Enumerations
enum class	DistortionType : int { NONE = 0 , CUSTOM = 1 , BROWN = 2 }
	Which distortion types we support. More...

enum class	NoiseType : int { NONE = 0 , CUSTOM = 1 , GAUSSIAN = 2 }
	Which noise types we support. More...

enum	SensorCategory { IMAGE = 0 , RAY = 1 , OTHER = 2 , CATEGORY_COUNT = 3 }
	SensorCategory is used to categorize sensors. This is used to put sensors into different threads. More...

enum	SensorDistortionType { SENSOR_DISTORTION_TYPE_BEGIN = 0 , NO_DISTORTION = SENSOR_DISTORTION_TYPE_BEGIN , CAMERA_DISTORTION = 1 , SENSOR_DISTORTION_TYPE_END }

enum	SensorNoiseType { SENSOR_NOISE_TYPE_BEGIN = 0 , NO_NOISE = SENSOR_NOISE_TYPE_BEGIN , CAMERA_NOISE = 1 , MAGNETOMETER_X_NOISE_TESLA = 2 , MAGNETOMETER_Y_NOISE_TESLA = 3 , MAGNETOMETER_Z_NOISE_TESLA = 4 , ALTIMETER_VERTICAL_POSITION_NOISE_METERS = 5 , ALTIMETER_VERTICAL_VELOCITY_NOISE_METERS_PER_S = 6 , AIR_PRESSURE_NOISE_PASCALS = 7 , ACCELEROMETER_X_NOISE_M_S_S = 8 , ACCELEROMETER_Y_NOISE_M_S_S = 9 , ACCELEROMETER_Z_NOISE_M_S_S = 10 , GYROSCOPE_X_NOISE_RAD_S = 11 , GYROSCOPE_Y_NOISE_RAD_S = 12 , GYROSCOPE_Z_NOISE_RAD_S = 13 , LIDAR_NOISE = 14 , FORCE_X_NOISE_N = 15 , FORCE_Y_NOISE_N = 16 , FORCE_Z_NOISE_N = 17 , TORQUE_X_NOISE_N_M = 18 , TORQUE_Y_NOISE_N_M = 19 , TORQUE_Z_NOISE_N_M = 20 , NAVSAT_HORIZONTAL_POSITION_NOISE = 21 , NAVSAT_VERTICAL_POSITION_NOISE = 22 , NAVSAT_HORIZONTAL_VELOCITY_NOISE = 23 , NAVSAT_VERTICAL_VELOCITY_NOISE = 24 , AIR_SPEED_NOISE_PASCALS = 25 , SENSOR_NOISE_TYPE_END }

enum class	WorldFrameEnumType { NONE = 0 , ENU = 1 , NED = 2 , NWU = 3 , CUSTOM = 4 }
	Inline bracket to help doxygen filtering. More...

Functions
std::string	customType (const sdf::Sensor &_sdf)
	Get the name of a sensor's custom type from SDF.

std::string	customType (sdf::ElementPtr _sdf)
	Get the name of a sensor's custom type from SDF.

Variables
const SensorId	NO_SENSOR = 0

Detailed Description

Sensors namespace.

Typedef Documentation

◆ BrownDistortionModelPtr

typedef std::shared_ptr<BrownDistortionModel> BrownDistortionModelPtr

◆ CameraSensor_V

typedef std::vector<CameraSensorPtr> CameraSensor_V

◆ CameraSensorPtr

typedef std::shared_ptr<CameraSensor> CameraSensorPtr

◆ DistortionPtr

typedef std::shared_ptr<Distortion> DistortionPtr

◆ GaussianNoiseModelPtr

typedef std::shared_ptr<GaussianNoiseModel> GaussianNoiseModelPtr

◆ GpuLidarSensor_V

typedef std::vector<GpuLidarSensorPtr> GpuLidarSensor_V

◆ GpuLidarSensorPtr

typedef std::shared_ptr<GpuLidarSensor> GpuLidarSensorPtr

◆ ImageBrownDistortionModelPtr

typedef std::shared_ptr<ImageBrownDistortionModel> ImageBrownDistortionModelPtr

◆ ImageGaussianNoiseModelPtr

typedef std::shared_ptr<ImageGaussianNoiseModel> ImageGaussianNoiseModelPtr

Shared pointer to Noise.

◆ NoisePtr

typedef std::shared_ptr<Noise> NoisePtr

◆ Sensor_V

typedef std::vector<SensorPtr> Sensor_V

◆ SensorId

using SensorId = std::size_t

A string used to identify a sensor.

◆ SensorPtr

typedef std::shared_ptr<Sensor> SensorPtr

◆ WorldKinematicState

using WorldKinematicState = std::unordered_map< uint64_t, EntityKinematicState>

Kinematic state for all entities in the world.

Enumeration Type Documentation

◆ DistortionType

enum class DistortionType : int

strong

Which distortion types we support.

Enumerator
NONE
CUSTOM
BROWN

◆ NoiseType

enum class NoiseType : int

strong

Which noise types we support.

Enumerator
NONE
CUSTOM
GAUSSIAN

◆ SensorCategory

enum SensorCategory

SensorCategory is used to categorize sensors. This is used to put sensors into different threads.

Enumerator
IMAGE	Image based sensor class. This type requires the rendering engine.
RAY	Ray based sensor class.
OTHER	A type of sensor is not a RAY or IMAGE sensor.
CATEGORY_COUNT	Number of Sensor Categories.

◆ SensorDistortionType

enum SensorDistortionType

Enumerator
SENSOR_DISTORTION_TYPE_BEGIN
NO_DISTORTION	Noise streams for the Camera sensor. See also CameraSensor
CAMERA_DISTORTION	Noise streams for the Camera sensor. See also CameraSensor
SENSOR_DISTORTION_TYPE_END

◆ SensorNoiseType

enum SensorNoiseType

Enumerator
SENSOR_NOISE_TYPE_BEGIN
NO_NOISE	Noise streams for the Camera sensor. See also CameraSensor
CAMERA_NOISE	Noise streams for the Camera sensor. See also CameraSensor
MAGNETOMETER_X_NOISE_TESLA	Magnetometer body-frame X axis noise in Tesla. See also MagnetometerSensor
MAGNETOMETER_Y_NOISE_TESLA	Magnetometer body-frame Y axis noise in Tesla. See also MagnetometerSensor
MAGNETOMETER_Z_NOISE_TESLA	Magnetometer body-frame Z axis noise in Tesla. See also MagnetometerSensor
ALTIMETER_VERTICAL_POSITION_NOISE_METERS	Vertical noise stream for the altimeter sensor. See also AltimeterSensor
ALTIMETER_VERTICAL_VELOCITY_NOISE_METERS_PER_S	Velocity noise streams for the altimeter sensor. See also AltimeterSensor
AIR_PRESSURE_NOISE_PASCALS	Air Pressure noise streams for the air pressure sensor. See also AirPressureSensor
ACCELEROMETER_X_NOISE_M_S_S	Accelerometer body-frame X axis noise in m/s^2. See also ImuSensor
ACCELEROMETER_Y_NOISE_M_S_S	Accelerometer body-frame Y axis noise in m/s^2. See also ImuSensor
ACCELEROMETER_Z_NOISE_M_S_S	Accelerometer body-frame Z axis noise in m/s^2. See also ImuSensor
GYROSCOPE_X_NOISE_RAD_S	Gyroscope body-frame X axis noise in m/s^2. See also ImuSensor
GYROSCOPE_Y_NOISE_RAD_S	Gyroscope body-frame X axis noise in m/s^2. See also ImuSensor
GYROSCOPE_Z_NOISE_RAD_S	Gyroscope body-frame X axis noise in m/s^2. See also ImuSensor
LIDAR_NOISE	Noise streams for the Lidar sensor. See also Lidar
FORCE_X_NOISE_N	Force body-frame X axis noise in N. See also ForceTorqueSensor
FORCE_Y_NOISE_N	Force body-frame Y axis noise in N. See also ForceTorqueSensor
FORCE_Z_NOISE_N	Force body-frame Z axis noise in N. See also ForceTorqueSensor
TORQUE_X_NOISE_N_M	Torque body-frame X axis noise in Nm. See also ForceTorqueSensor
TORQUE_Y_NOISE_N_M	Torque body-frame Y axis noise in Nm. See also ForceTorqueSensor
TORQUE_Z_NOISE_N_M	Torque body-frame Z axis noise in Nm. See also ForceTorqueSensor
NAVSAT_HORIZONTAL_POSITION_NOISE	Noise streams for the NavSat position sensor. See also NavSat
NAVSAT_VERTICAL_POSITION_NOISE	Noise streams for the NavSat position sensor. See also NavSat
NAVSAT_HORIZONTAL_VELOCITY_NOISE	Noise streams for the NavSat velocity sensor. See also NavSat
NAVSAT_VERTICAL_VELOCITY_NOISE	Noise streams for the NavSat velocity sensor. See also NavSat
AIR_SPEED_NOISE_PASCALS	Air speed noise streams for the air speed sensor. See also AirSpeedSensor
SENSOR_NOISE_TYPE_END

◆ WorldFrameEnumType

enum class WorldFrameEnumType

strong

Inline bracket to help doxygen filtering.

Reference frames enum

Enumerator
NONE	NONE : To be used only when `<localization>` reference orientation tag is empty.
ENU	ENU (East-North-Up): x - East, y - North, z - Up.
NED	NED (North-East-Down): x - North, y - East, z - Down.
NWU	NWU (North-West-Up): x - North, y - West, z - Up.
CUSTOM	CUSTOM : The frame is described using custom_rpy tag.

Function Documentation

◆ customType() [1/2]

std::string customType ( const sdf::Sensor & _sdf )

Get the name of a sensor's custom type from SDF.

Given an SDF tag as follows:

<sensor name="sensor_name" type="custom" gz:type="sensor_type">

This function returns sensor_type.

It will return an empty string if the element is malformed. For example, if it misses the gz:type attribute or is not of type="custom".

Parameters

[in] _sdf Sensor SDF object.

Returns: _sensorType Name of sensor type.

◆ customType() [2/2]

std::string customType ( sdf::ElementPtr _sdf )

Get the name of a sensor's custom type from SDF.

Given an SDF tag as follows:

<sensor name="sensor_name" type="custom" gz:type="sensor_type">

This function returns sensor_type.

It will return an empty string if the element is malformed. For example, if it misses the gz:type attribute or is not of type="custom".

Parameters

[in] _sdf Sensor SDF object.

Returns: _sensorType Name of sensor type.

Variable Documentation

◆ NO_SENSOR

const SensorId NO_SENSOR = 0

Referenced by Manager::CreateSensor().

Gazebo Sensors

API Reference

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ BrownDistortionModelPtr

◆ CameraSensor_V

◆ CameraSensorPtr

◆ DistortionPtr

◆ GaussianNoiseModelPtr

◆ GpuLidarSensor_V

◆ GpuLidarSensorPtr

◆ ImageBrownDistortionModelPtr

◆ ImageGaussianNoiseModelPtr

◆ NoisePtr

◆ Sensor_V

◆ SensorId

◆ SensorPtr

◆ WorldKinematicState

Enumeration Type Documentation

◆ DistortionType

◆ NoiseType

◆ SensorCategory

◆ SensorDistortionType

◆ SensorNoiseType

◆ WorldFrameEnumType

Function Documentation

◆ customType() [1/2]

◆ customType() [2/2]

Variable Documentation

◆ NO_SENSOR