LogicalCameraSensor Class Reference

Logical Camera Sensor Class. More...

#include <LogicalCameraSensor.hh>

Public Member Functions
	LogicalCameraSensor ()
	constructor More...
virtual	~LogicalCameraSensor ()
	destructor More...
double	AspectRatio () const
	Get the aspect ratio, which is the width divided by height of the near or far planes. More...
double	Far () const
	Get the far distance. This is the distance from the frustum's vertex to the farthest plane. More...
gz::math::Angle	HorizontalFOV () const
	Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle. More...
msgs::LogicalCameraImage	Image () const
	Get the latest image. An image is an instance of msgs::LogicalCameraImage, which contains a list of detected models. More...
virtual bool	Init () override
	Initialize values in the sensor. More...
virtual bool	Load (sdf::ElementPtr _sdf) override
	Load the sensor with SDF parameters. More...
double	Near () const
	Get the near distance. This is the distance from the frustum's vertex to the closest plane. More...
void	SetModelPoses (std::map< std::string, math::Pose3d > &&_models)
	Set the models currently in the world. More...
virtual bool	Update (const common::Time &_now) override
	Force the sensor to generate data. 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...
virtual bool	Load (const sdf::Sensor &_sdf)
	Load the sensor based on data from an sdf::Sensor object. 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

Logical Camera Sensor Class.

A logical camera reports locations of objects. This camera finds models within the sensor's frustum and publishes information about the models on the sensor's topic.

Constructor & Destructor Documentation

LogicalCameraSensor()

LogicalCameraSensor

(

)

constructor

~LogicalCameraSensor()

virtual ~LogicalCameraSensor ( )

virtual

destructor

Member Function Documentation

AspectRatio()

double AspectRatio

(

)

const

Get the aspect ratio, which is the width divided by height of the near or far planes.

Returns

The frustum's aspect ratio.

Far()

double Far

(

)

const

Get the far distance. This is the distance from the frustum's vertex to the farthest plane.

Returns

Far distance.

HorizontalFOV()

gz::math::Angle HorizontalFOV

(

)

const

Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Returns

The field of view.

Image()

msgs::LogicalCameraImage Image

(

)

const

Get the latest image. An image is an instance of msgs::LogicalCameraImage, which contains a list of detected models.

Returns

List of detected models.

Init()

virtual bool Init ( )

overridevirtual

Initialize values in the sensor.

Returns

True on success

Reimplemented from Sensor.

Load()

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.

Near()

double Near

(

)

const

Get the near distance. This is the distance from the frustum's vertex to the closest plane.

Returns

Near distance.

SetModelPoses()

void SetModelPoses

(

std::map< std::string, math::Pose3d > &&

_models

)

Set the models currently in the world.

Parameters

[in]

_models

A map of model names to their world pose.

Update()

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

overridevirtual

Force the sensor to generate data.

Parameters

[in]

_now

The current time

Returns

true if the update was successfull

Implements Sensor.

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

• gz/sensors/LogicalCameraSensor.hh