SensorTypes.hh

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/*
 * Copyright (C) 2018 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_SENSORS_SENSORTYPES_HH_
#define IGNITION_SENSORS_SENSORTYPES_HH_

#include <vector>
#include <memory>

#include <ignition/common/EnumIface.hh>
#include <ignition/sensors/config.hh>
#include <ignition/sensors/Export.hh>

namespace ignition
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
    // Forward declarations.
    class AltimeterSensor;
    class CameraSensor;
    class GpuLidarSensor;
    class GaussianNoiseModel;
    class ImageGaussianNoiseModel;
    class Noise;
    class Distortion;
    class BrownDistortionModel;
    class ImageBrownDistortionModel;
    class Sensor;

    typedef std::shared_ptr<Sensor> SensorPtr;

    typedef std::shared_ptr<CameraSensor> CameraSensorPtr;

    typedef std::shared_ptr<GpuLidarSensor> GpuLidarSensorPtr;

    typedef std::shared_ptr<Noise> NoisePtr;

    typedef std::shared_ptr<GaussianNoiseModel> GaussianNoiseModelPtr;

    typedef std::shared_ptr<ImageGaussianNoiseModel>
        ImageGaussianNoiseModelPtr;

    typedef std::shared_ptr<Distortion> DistortionPtr;

    typedef std::shared_ptr<BrownDistortionModel> BrownDistortionModelPtr;

    typedef std::shared_ptr<ImageBrownDistortionModel>
        ImageBrownDistortionModelPtr;

    typedef std::vector<SensorPtr> Sensor_V;

    typedef std::vector<CameraSensorPtr> CameraSensor_V;

    typedef std::vector<GpuLidarSensorPtr> GpuLidarSensor_V;

    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,

      SENSOR_NOISE_TYPE_END
    };


    enum SensorDistortionType
    {
      SENSOR_DISTORTION_TYPE_BEGIN = 0,

      NO_DISTORTION = SENSOR_DISTORTION_TYPE_BEGIN,

      CAMERA_DISTORTION = 1,

      SENSOR_DISTORTION_TYPE_END
    };

    enum SensorCategory
    {
      // IMAGE must be the first element, and it must start with 0. Do not
      // change this! See SensorManager::sensorContainers for reference.
      IMAGE = 0,

      RAY = 1,

      OTHER = 2,

      CATEGORY_COUNT = 3
    };
    }
  }
}
#endif