Loads and runs sensors. More...

#include <Manager.hh>

Public Member Functions
	Manager ()
	constructor More...

virtual	~Manager ()
	destructor More...

void	AddPluginPaths (const std::string &_path)
	Adds colon delimited paths sensor plugins may be. More...

SensorId	AddSensor (std::unique_ptr< Sensor > _sensor)
	Add a sensor for this manager to manage. More...

SensorId	CreateSensor (const sdf::Sensor &_sdf)
	Create a sensor from SDF without a known sensor type. More...

SensorId	CreateSensor (sdf::ElementPtr _sdf)
	Create a sensor from SDF without a known sensor type. More...

template<typename SensorType , typename SdfType >
SensorType *	CreateSensor (SdfType _sdf)
	Create a sensor from an SDF ovject with a known sensor type. More...

bool	Init ()
	Initialize the sensor library without rendering or physics. More...

bool	Remove (const SensorId _id)
	Remove a sensor by ID. More...

void	RunOnce (const std::chrono::steady_clock::duration &_time, bool _force=false)
	Run the sensor generation one step. More...

Sensor *	Sensor (SensorId _id)
	Get an instance of a loaded sensor by sensor id. More...

Detailed Description

Loads and runs sensors.

This class is responsible for loading and running sensors, and providing sensors with common environments to generat data from.

The primary interface through which to load a sensor is LoadSensor(). This takes an sdf element pointer that should be configured with everything the sensor will need. Custom sensors configuration must be in the <plugin> tag of the sdf::Element. The manager will dynamically load the sensor library and update it.

Remarks: This class is not thread safe.

Constructor & Destructor Documentation

◆ Manager()

Manager ( )

constructor

◆ ~Manager()

virtual ~Manager ( )

virtual

destructor

Member Function Documentation

◆ AddPluginPaths()

void AddPluginPaths ( const std::string & _path )

Adds colon delimited paths sensor plugins may be.

◆ AddSensor()

SensorId AddSensor ( std::unique_ptr< Sensor > _sensor )

Add a sensor for this manager to manage.

See also: Sensor()

Parameters

[in] _sensor Pointer to the sensor

Returns: A sensor id that refers to the created sensor. NO_SENSOR is returned on error.

Referenced by Manager::CreateSensor().

◆ CreateSensor() [1/3]

SensorId CreateSensor ( const sdf::Sensor & _sdf )

Create a sensor from SDF without a known sensor type.

This creates sensors by looking at the given sdf element. Sensors created with this API offer an gz-transport interface. If you need a direct C++ interface to the data, you must get the sensor pointer and cast to the correct type.

A <sensor> tag may have multiple <plugin> tags. A SensorId will be returned for each plugin that is described in SDF. If there are no <plugin> tags then one of the plugins shipped with this library will be loaded. For example, a <sensor> tag with <camera> but no <plugin> will load a CameraSensor from gz-sensors-camera.

See also: Sensor()

Parameters

[in] _sdf SDF sensor DOM object

Returns: A sensor id that refers to the created sensor. NO_SENSOR is returned on erro.

Deprecated:: Sensor registration is deprecated, so it's necessary to provide the specific sensor type to create it. Use the templated CreateSensor function.

◆ CreateSensor() [2/3]

SensorId CreateSensor ( sdf::ElementPtr _sdf )

Create a sensor from SDF without a known sensor type.

This creates sensors by looking at the given sdf element. Sensors created with this API offer an gz-transport interface. If you need a direct C++ interface to the data, you must get the sensor pointer and cast to the correct type.

A <sensor> tag may have multiple <plugin> tags. A SensorId will be returned for each plugin that is described in SDF. If there are no <plugin> tags then one of the plugins shipped with this library will be loaded. For example, a <sensor> tag with <camera> but no <plugin> will load a CameraSensor from gz-sensors-camera.

See also: Sensor()

Parameters

[in] _sdf pointer to the sdf element

Returns: A sensor id that refers to the created sensor. NO_SENSOR is returned on erro.

Deprecated:: Sensor registration is deprecated, so it's necessary to provide the specific sensor type to create it. Use the templated CreateSensor function.

◆ CreateSensor() [3/3]

SensorType* CreateSensor ( SdfType _sdf )

inline

Create a sensor from an SDF ovject with a known sensor type.

See also: Sensor()

Parameters

[in] _sdf An SDF element or DOM object.

Template Parameters

SensorType	Sensor type
SdfType	It may be an `sdf::ElementPtr` containing a sensor or an `sdf::Sensor`.

Returns: A pointer to the created sensor. Null returned on error. The Manager keeps ownership of the pointer's lifetime.

References Manager::AddSensor(), SensorFactory::CreateSensor(), std::endl(), std::move(), and gz::sensors::NO_SENSOR.

◆ Init()

bool Init ( )

Initialize the sensor library without rendering or physics.

Returns: True if successfully initialized, false if not

◆ Remove()

bool Remove ( const SensorId _id )

Remove a sensor by ID.

Parameters

[in] _sensorId ID of the sensor to remove

Returns: True if the sensor exists and removed.

◆ RunOnce()

void RunOnce	(	const std::chrono::steady_clock::duration &	_time,
		bool	_force = `false`
	)

Run the sensor generation one step.

Parameters

_time	The current simulated time
_force	If true, all sensors are forced to update. Otherwise a sensor will update based on it's Hz rate.

◆ Sensor()

Sensor* Sensor ( SensorId _id )

Get an instance of a loaded sensor by sensor id.

Parameters

[in] _id Idenitifier of the sensor.

Returns: Pointer to the sensor, nullptr on error.

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

gz/sensors/Manager.hh

Gazebo Sensors

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Manager()

◆ ~Manager()

Member Function Documentation

◆ AddPluginPaths()

◆ AddSensor()

◆ CreateSensor() [1/3]

◆ CreateSensor() [2/3]

◆ CreateSensor() [3/3]

◆ Init()

◆ Remove()

◆ RunOnce()

◆ Sensor()