Gazebo Sensors

API Reference

3.6.0
MagnetometerSensor Class Reference

Magnetometer Sensor Class. More...

#include <MagnetometerSensor.hh>

Public Member Functions

 MagnetometerSensor ()
 constructor More...
 
virtual ~MagnetometerSensor ()
 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...
 
math::Vector3d MagneticField () const
 Get the magnetic field vector in body frame. More...
 
void SetWorldMagneticField (const math::Vector3d &_field)
 Set the magnetic field vector in world frame. More...
 
void SetWorldPose (const math::Pose3d _pose)
 Set the world pose of the sensor. More...
 
virtual bool Update (const common::Time &_now) override
 Update the sensor and generate data. More...
 
math::Vector3d WorldMagneticField () const
 Get the magnetic field vector in world frame. More...
 
math::Pose3d WorldPose () const
 Get the world pose of the sensor. 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

Magnetometer Sensor Class.

A magnetometer reports the magnetic field vector

Constructor & Destructor Documentation

◆ MagnetometerSensor()

constructor

◆ ~MagnetometerSensor()

virtual ~MagnetometerSensor ( )
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]_sdfSDF 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]_sdfSDF Sensor parameters.
Returns
true if loading was successful

Reimplemented from Sensor.

◆ MagneticField()

math::Vector3d MagneticField ( ) const

Get the magnetic field vector in body frame.

Returns
Magnetic field vector in body frame

◆ SetWorldMagneticField()

void SetWorldMagneticField ( const math::Vector3d &  _field)

Set the magnetic field vector in world frame.

Parameters
[in]_fieldMagnetic field vector in world frame.

◆ SetWorldPose()

void SetWorldPose ( const math::Pose3d  _pose)

Set the world pose of the sensor.

Parameters
[in]_posePose in world frame

◆ Update()

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

Update the sensor and generate data.

Parameters
[in]_nowThe current time
Returns
true if the update was successfull

Implements Sensor.

◆ WorldMagneticField()

math::Vector3d WorldMagneticField ( ) const

Get the magnetic field vector in world frame.

Returns
Magnetic field vector in world frame

◆ WorldPose()

math::Pose3d WorldPose ( ) const

Get the world pose of the sensor.

Returns
Pose in world frame.

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