DopplerVelocityLog.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2022 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_SENSORS_DOPPLERVELOCITYLOG_HH_
#define GZ_SENSORS_DOPPLERVELOCITYLOG_HH_
 
#include <chrono>
#include <memory>
#include <unordered_map>
#include <vector>
 
#include <gz/math/Pose3.hh>
#include <gz/math/Vector3.hh>
#include <gz/sensors/EnvironmentalData.hh>
#include <gz/sensors/RenderingSensor.hh>
 
#include "gz/sensors/dvl/Export.hh"
 
namespace gz
{
  namespace sensors
  {
    struct EntityKinematicState
    {
      gz::math::Pose3d pose;
      gz::math::Vector3d linearVelocity;
      gz::math::Vector3d angularVelocity;
    };
 
    using WorldKinematicState = std::unordered_map<
      uint64_t, EntityKinematicState>;
 
    struct WorldState
    {
      WorldKinematicState kinematics;
      gz::math::SphericalCoordinates origin;
    };
 
    class GZ_SENSORS_DVL_VISIBLE DopplerVelocityLog
      : public gz::sensors::RenderingSensor
    {
      public: DopplerVelocityLog();
 
      public: ~DopplerVelocityLog();
 
      public: virtual bool Load(const sdf::Sensor &_sdf) override;
 
      public: virtual bool Load(sdf::ElementPtr _sdf) override;
 
      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;
 
      public: virtual void PostUpdate(
        const std::chrono::steady_clock::duration &_now);
 
      public: void SetScene(gz::rendering::ScenePtr _scene) override;
 
      public: void SetEntity(uint64_t entity);
 
      public: void SetWorldState(const WorldState &_state);
 
      public: void SetEnvironmentalData(const EnvironmentalData &_data);
 
      public: virtual bool HasConnections() const override;
 
      public: std::vector<gz::rendering::SensorPtr> RenderingSensors() const;
 
      private: class Implementation;
 
      private: std::unique_ptr<Implementation> dataPtr;
    };
 
  }  // namespace sensors
}  // namespace gz
 
#endif  // GZ_SENSORS_DOPPLERVELOCITYLOG_HH_