Gazebo Sensors

API Reference

9.2.0
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
32namespace 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