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| NavSatSensor () |
| Constructor. More...
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virtual | ~NavSatSensor () |
| Destructor. More...
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double | Altitude () const |
| Get NavSat altitude above sea level. More...
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bool | HasConnections () const |
| Check if there are any subscribers. More...
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virtual bool | Init () override |
| Initialize values in the sensor. More...
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const math::Angle & | Latitude () const |
| Get the latitude of the NavSat, wrapped between +/- 180 degrees. More...
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virtual bool | Load (const sdf::Sensor &_sdf) override |
| Load the sensor based on data from an sdf::Sensor object. More...
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virtual bool | Load (sdf::ElementPtr _sdf) override |
| Load the sensor with SDF parameters. More...
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const math::Angle & | Longitude () const |
| Get the longitude of the NavSat, wrapped between +/- 180 degrees. More...
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void | SetAltitude (double _altitude) |
| Set the altitude of the NavSat. More...
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void | SetLatitude (const math::Angle &_latitude) |
| Set the latitude of the NavSat. More...
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void | SetLongitude (const math::Angle &_longitude) |
| Set the longitude of the NavSat. More...
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void | SetPosition (const math::Angle &_latitude, const math::Angle &_longitude, double _altitude=0.0) |
| Easy short hand for setting the position of the sensor. More...
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void | SetVelocity (const math::Vector3d &_vel) |
| Set the velocity of the NavSat in ENU world frame. More...
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virtual bool | Update (const std::chrono::steady_clock::duration &_now) override |
| Update the sensor and generate data. More...
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const math::Vector3d & | Velocity () const |
| Get the velocity of the NavSat sensor in the ENU world frame. More...
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virtual | ~Sensor () |
| destructor More...
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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...
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bool | EnableMetrics () const |
| Get flag state for enabling performance metrics publication. More...
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std::string | FrameId () const |
| FrameId. More...
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SensorId | Id () const |
| Get the sensor's ID. More...
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bool | IsActive () const |
| Get whether the sensor is enabled or not. More...
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std::string | Name () const |
| Get name. More...
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std::chrono::steady_clock::duration | NextDataUpdateTime () const |
| Return the next time the sensor will generate data. More...
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std::string | Parent () const |
| Get parent link of the sensor. More...
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gz::math::Pose3d | Pose () const |
| Get the current pose. More...
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void | PublishMetrics (const std::chrono::duration< double > &_now) |
| Publishes information about the performance of the sensor. This method is called by Update(). More...
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sdf::ElementPtr | SDF () const |
| Get the SDF used to load this sensor. More...
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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...
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void | SetEnableMetrics (bool _enableMetrics) |
| Set flag to enable publishing performance metrics. More...
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void | SetFrameId (const std::string &_frameId) |
| Set Frame ID of the sensor. More...
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virtual void | SetParent (const std::string &_parent) |
| Set the parent of the sensor. More...
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void | SetPose (const gz::math::Pose3d &_pose) |
| Update the pose of the sensor. More...
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bool | SetTopic (const std::string &_topic) |
| Set topic where sensor data is published. More...
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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...
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std::string | Topic () const |
| Get topic where sensor data is published. More...
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bool | Update (const std::chrono::steady_clock::duration &_now, const bool _force) |
| Update the sensor. More...
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double | UpdateRate () const |
| Get the update rate of the sensor. More...
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NavSat Sensor Class.
A sensor that reports position and velocity readings over Ignition Transport using spherical coordinates (latitude / longitude).
By default, it publishes ignition::msgs::NavSat
messages on the /.../navsat
topic.
This sensor assumes the world is using the East-North-Up (ENU) frame.