Gazebo Sensors

API Reference

8.2.2
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
7  *
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
14  * limitations under the License.
15  *
16 */
17 #ifndef GZ_SENSORS_MANAGER_HH_
18 #define GZ_SENSORS_MANAGER_HH_
19 
20 #include <chrono>
21 #include <memory>
22 #include <utility>
23 #include <type_traits>
24 #include <sdf/sdf.hh>
25 #include <gz/utils/SuppressWarning.hh>
26 #include <gz/common/Console.hh>
27 #include <gz/sensors/config.hh>
28 #include <gz/sensors/Export.hh>
29 #include <gz/sensors/Sensor.hh>
31 
32 namespace gz
33 {
34  namespace sensors
35  {
36  // Inline bracket to help doxygen filtering.
37  inline namespace GZ_SENSORS_VERSION_NAMESPACE {
38  // Forward declarations
39  class ManagerPrivate;
40 
52  class GZ_SENSORS_VISIBLE Manager
53  {
55  public: Manager();
56 
58  public: virtual ~Manager();
59 
62  public: bool Init();
63 
72  public: template<typename SensorType, typename SdfType>
73  SensorType *CreateSensor(SdfType _sdf)
74  {
75  SensorFactory sensorFactory;
76  auto sensor = sensorFactory.CreateSensor<SensorType>(_sdf);
77  if (nullptr == sensor)
78  {
79  gzerr << "Failed to create sensor." << std::endl;
80  return nullptr;
81  }
82  auto result = sensor.get();
83  if (NO_SENSOR == this->AddSensor(std::move(sensor)))
84  {
85  gzerr << "Failed to add sensor." << std::endl;
86  return nullptr;
87  }
88  return result;
89  }
90 
91 
98 
104 
108  public: bool Remove(const gz::sensors::SensorId _id);
109 
114  public: void RunOnce(const std::chrono::steady_clock::duration &_time,
115  bool _force = false);
116 
117  GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
119  private: std::unique_ptr<ManagerPrivate> dataPtr;
120  GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
121  };
122  }
123  }
124 }
125 
126 #endif