Gazebo Sensors

API Reference

6.8.1
gz/sensors/Manager.hh
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1 /*
2  * Copyright (C) 2017 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef GZ_SENSORS_MANAGER_HH_
18 #define GZ_SENSORS_MANAGER_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <utility>
23 #include <type_traits>
24 #include <vector>
25 #include <sdf/sdf.hh>
26 #include <gz/common/SuppressWarning.hh>
27 #include <gz/common/Console.hh>
28 #include <gz/sensors/config.hh>
29 #include <gz/sensors/Export.hh>
30 #include <gz/sensors/Sensor.hh>
32 
33 namespace ignition
34 {
35  namespace sensors
36  {
37  // Inline bracket to help doxygen filtering.
38  inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
39  // Forward declarations
40  class ManagerPrivate;
41 
53  class IGNITION_SENSORS_VISIBLE Manager
54  {
56  public: Manager();
57 
59  public: virtual ~Manager();
60 
63  public: bool Init();
64 
73  public: template<typename SensorType, typename SdfType>
74  SensorType *CreateSensor(SdfType _sdf)
75  {
76  SensorFactory sensorFactory;
77  auto sensor = sensorFactory.CreateSensor<SensorType>(_sdf);
78  if (nullptr == sensor)
79  {
80  ignerr << "Failed to create sensor." << std::endl;
81  return nullptr;
82  }
83  auto result = sensor.get();
84  if (NO_SENSOR == this->AddSensor(std::move(sensor)))
85  {
86  ignerr << "Failed to add sensor." << std::endl;
87  return nullptr;
88  }
89  return result;
90  }
91 
112  public: gz::sensors::SensorId IGN_DEPRECATED(6) CreateSensor(
113  sdf::ElementPtr _sdf);
114 
135  public: gz::sensors::SensorId IGN_DEPRECATED(6) CreateSensor(
136  const sdf::Sensor &_sdf);
137 
143  public: SensorId AddSensor(std::unique_ptr<Sensor> _sensor);
144 
148  public: gz::sensors::Sensor *Sensor(
149  gz::sensors::SensorId _id);
150 
154  public: bool Remove(const gz::sensors::SensorId _id);
155 
160  public: void RunOnce(const std::chrono::steady_clock::duration &_time,
161  bool _force = false);
162 
164  public: void IGN_DEPRECATED(6) AddPluginPaths(const std::string &_path);
165 
166  IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
168  private: std::unique_ptr<ManagerPrivate> dataPtr;
169  IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
170  };
171  }
172  }
173 }
174 
175 #endif
Definition: gz/sensors/AirPressureSensor.hh:31
STL class.
T move(T... args)
SensorType * CreateSensor(SdfType _sdf)
Create a sensor from an SDF ovject with a known sensor type.
Definition: gz/sensors/Manager.hh:74
virtual ~Manager()
destructor
Loads and runs sensors.
Definition: gz/sensors/Manager.hh:53
std::size_t SensorId
A string used to identify a sensor.
Definition: gz/sensors/Sensor.hh:48
void RunOnce(const std::chrono::steady_clock::duration &_time, bool _force=false)
Run the sensor generation one step.
const SensorId NO_SENSOR
Definition: gz/sensors/Sensor.hh:49
void AddPluginPaths(const std::string &_path)
Adds colon delimited paths sensor plugins may be.
T endl(T... args)
STL namespace.
bool Init()
Initialize the sensor library without rendering or physics.
A factory class for creating sensors This class instantiates sensor objects based on the sensor type ...
Definition: gz/sensors/SensorFactory.hh:72
Sensor * Sensor(SensorId _id)
Get an instance of a loaded sensor by sensor id.
a base sensor class
Definition: gz/sensors/Sensor.hh:59
STL class.
bool Remove(const SensorId _id)
Remove a sensor by ID.
std::unique_ptr< SensorType > CreateSensor(const sdf::Sensor &_sdf)
Create a sensor from a SDF DOM object with a known sensor type.
Definition: gz/sensors/SensorFactory.hh:92
SensorId AddSensor(std::unique_ptr< Sensor > _sensor)
Add a sensor for this manager to manage.