AltimeterSensor Class Reference

Altimeter Sensor Class. More...

#include <AltimeterSensor.hh>

Public Member Functions
	AltimeterSensor ()
	constructor More...
virtual	~AltimeterSensor ()
	destructor More...
virtual bool	Init () override
	Initialize values in the sensor. More...
virtual bool	Load (const sdf::Sensor &_sdf) override
	Load the sensor based on data from an sdf::Sensor object. More...
virtual bool	Load (sdf::ElementPtr _sdf) override
	Load the sensor with SDF parameters. More...
void	SetPosition (double _pos)
	Set the current z position of the altimeter. More...
void	SetVerticalReference (double _reference)
	Set the vertical reference position of the altimeter. More...
void	SetVerticalVelocity (double _vel)
	Set the vertical velocity of the altimeter. More...
virtual bool	Update (const common::Time &_now) override
	Update the sensor and generate data. More...
double	VerticalPosition () const
	Get the vertical position of the altimeter relative to the reference position. More...
double	VerticalReference () const
	Get the vertical reference position of the altimeter. More...
double	VerticalVelocity () const
	Get the vertical velocity of the altimeter. More...
Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor More...
void	AddSequence (gz::msgs::Header *_msg, const std::string &_seqKey="default")
	Add a sequence number to an 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. More...
bool	EnableMetrics () const
	Get flag state for enabling performance metrics publication. More...
std::string	FrameId () const
	FrameId. More...
SensorId	Id () const
	Get the sensor's ID. More...
std::string	Name () const
	Get name. More...
common::Time	NextUpdateTime () const
	Return the next time the sensor will generate data. More...
std::string	Parent () const
	Get parent link of the sensor. More...
gz::math::Pose3d	Pose () const
	Get the current pose. More...
void	PublishMetrics (const std::chrono::duration< double > &_now)
	Publishes information about the performance of the sensor. This method is called by Update(). More...
sdf::ElementPtr	SDF () const
	Get the SDF used to load this sensor. More...
void	SetEnableMetrics (bool _enableMetrics)
	Set flag to enable publishing performance metrics. More...
void	SetFrameId (const std::string &_frameId)
	Set Frame ID of the sensor. More...
virtual void	SetParent (const std::string &_parent)
	Set the parent of the sensor. More...
void	SetPose (const gz::math::Pose3d &_pose)
	Update the pose of the sensor. More...
bool	SetTopic (const std::string &_topic)
	Set topic where sensor data is published. More...
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. \detail Negative rates become zero. More...
std::string	Topic () const
	Get topic where sensor data is published. More...
bool	Update (const common::Time &_now, const bool _force)
	Update the sensor. More...
double	UpdateRate () const
	Get the update rate of the sensor. More...

Additional Inherited Members
Protected Member Functions inherited from Sensor
	Sensor ()
	constructor More...

Detailed Description

Altimeter Sensor Class.

An altimeter sensor that reports vertical position and velocity readings over ign transport

Constructor & Destructor Documentation

AltimeterSensor()

AltimeterSensor

(

)

constructor

~AltimeterSensor()

virtual ~AltimeterSensor ( )

virtual

destructor

Member Function Documentation

Init()

virtual bool Init ( )

overridevirtual

Initialize values in the sensor.

Returns

True on success

Reimplemented from Sensor.

Load() [1/2]

virtual bool Load ( const sdf::Sensor &  _sdf )

overridevirtual

Load the sensor based on data from an sdf::Sensor object.

Parameters

[in]

_sdf

SDF Sensor parameters.

Returns

true if loading was successful

Reimplemented from Sensor.

Load() [2/2]

virtual bool Load ( sdf::ElementPtr  _sdf )

overridevirtual

Load the sensor with SDF parameters.

Parameters

[in]

_sdf

SDF Sensor parameters.

Returns

true if loading was successful

Reimplemented from Sensor.

SetPosition()

void SetPosition

(

double

_pos

)

Set the current z position of the altimeter.

Parameters

[in]

_pos

Z position in meters

SetVerticalReference()

void SetVerticalReference

(

double

_reference

)

Set the vertical reference position of the altimeter.

Parameters

[in]

_ref

Verical reference position in meters

SetVerticalVelocity()

void SetVerticalVelocity

(

double

_vel

)

Set the vertical velocity of the altimeter.

Parameters

[in]

_vel

Vertical velocity in meters per second

Update()

virtual bool Update ( const common::Time &  _now )

overridevirtual

Update the sensor and generate data.

Parameters

[in]

_now

The current time

Returns

true if the update was successfull

Implements Sensor.

VerticalPosition()

double VerticalPosition

(

)

const

Get the vertical position of the altimeter relative to the reference position.

Returns

Vertical position relative to referene position

VerticalReference()

double VerticalReference

(

)

const

Get the vertical reference position of the altimeter.

Returns

Verical reference position in meters

VerticalVelocity()

double VerticalVelocity

(

)

const

Get the vertical velocity of the altimeter.

Returns

Vertical velocity in meters per second

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

• gz/sensors/AltimeterSensor.hh