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 |
destructor
Member Function Documentation
◆ Init()
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overridevirtual |
◆ Load() [1/2]
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overridevirtual |
◆ Load() [2/2]
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overridevirtual |
◆ 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] _field Magnetic field vector in world frame.
◆ SetWorldPose()
void SetWorldPose | ( | const math::Pose3d | _pose | ) |
Set the world pose of the sensor.
- Parameters
-
[in] _pose Pose in world frame
◆ Update()
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overridevirtual |
Update the sensor and generate data.
- Parameters
-
[in] _now The 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: