MagnetometerSensor Class Reference

Magnetometer Sensor Class. More...

#include <MagnetometerSensor.hh>

Public Member Functions
	MagnetometerSensor ()
	constructor More...
virtual	~MagnetometerSensor ()
	destructor More...
bool	HasConnections () const
	Check if there are any subscribers. 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 std::chrono::steady_clock::duration &_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...
bool	IsActive () const
	Get whether the sensor is enabled or not. More...
std::string	Name () const
	Get name. More...
std::chrono::steady_clock::duration	NextDataUpdateTime () 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	SetActive (bool _active)
	Enable or disable the sensor. Disabled sensors will not generate or publish data unless Update is called with the '_force' argument set to true. 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 std::chrono::steady_clock::duration &_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()

MagnetometerSensor

(

)

constructor

~MagnetometerSensor()

virtual ~MagnetometerSensor ( )

virtual

destructor

Member Function Documentation

HasConnections()

bool HasConnections

(

)

const

Check if there are any subscribers.

Returns

True if there are subscribers, false otherwise

Todo:

(iche033) Make this function virtual on Garden

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.

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()

virtual bool Update ( const std::chrono::steady_clock::duration &  _now )

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.

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

• gz/sensors/MagnetometerSensor.hh