SensorTypes.hh

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/*
 * Copyright (C) 2018 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_SENSORTYPES_HH_
#define GZ_SENSORS_SENSORTYPES_HH_
 
#include <vector>
#include <memory>
 
#include <gz/common/EnumIface.hh>
#include <gz/sensors/config.hh>
#include <gz/sensors/Export.hh>
 
namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
    // Forward declarations.
    class AltimeterSensor;
    class CameraSensor;
    class GpuLidarSensor;
    class GaussianNoiseModel;
    class ImageGaussianNoiseModel;
    class Noise;
    class Distortion;
    class BrownDistortionModel;
    class ImageBrownDistortionModel;
    class Sensor;
 
    typedef std::shared_ptr<Sensor> SensorPtr;
 
    typedef std::shared_ptr<CameraSensor> CameraSensorPtr;
 
    typedef std::shared_ptr<GpuLidarSensor> GpuLidarSensorPtr;
 
    typedef std::shared_ptr<Noise> NoisePtr;
 
    typedef std::shared_ptr<GaussianNoiseModel> GaussianNoiseModelPtr;
 
    typedef std::shared_ptr<ImageGaussianNoiseModel>
        ImageGaussianNoiseModelPtr;
 
    typedef std::shared_ptr<Distortion> DistortionPtr;
 
    typedef std::shared_ptr<BrownDistortionModel> BrownDistortionModelPtr;
 
    typedef std::shared_ptr<ImageBrownDistortionModel>
        ImageBrownDistortionModelPtr;
 
    typedef std::vector<SensorPtr> Sensor_V;
 
    typedef std::vector<CameraSensorPtr> CameraSensor_V;
 
    typedef std::vector<GpuLidarSensorPtr> GpuLidarSensor_V;
 
    enum SensorNoiseType
    {
      SENSOR_NOISE_TYPE_BEGIN = 0,
 
      NO_NOISE = SENSOR_NOISE_TYPE_BEGIN,
 
      CAMERA_NOISE = 1,
 
      MAGNETOMETER_X_NOISE_TESLA = 2,
 
      MAGNETOMETER_Y_NOISE_TESLA = 3,
 
      MAGNETOMETER_Z_NOISE_TESLA = 4,
 
      ALTIMETER_VERTICAL_POSITION_NOISE_METERS = 5,
 
      ALTIMETER_VERTICAL_VELOCITY_NOISE_METERS_PER_S = 6,
 
      AIR_PRESSURE_NOISE_PASCALS = 7,
 
      ACCELEROMETER_X_NOISE_M_S_S = 8,
 
      ACCELEROMETER_Y_NOISE_M_S_S = 9,
 
      ACCELEROMETER_Z_NOISE_M_S_S = 10,
 
      GYROSCOPE_X_NOISE_RAD_S = 11,
 
      GYROSCOPE_Y_NOISE_RAD_S = 12,
 
      GYROSCOPE_Z_NOISE_RAD_S = 13,
 
      LIDAR_NOISE = 14,
 
      FORCE_X_NOISE_N = 15,
 
      FORCE_Y_NOISE_N = 16,
 
      FORCE_Z_NOISE_N = 17,
 
      TORQUE_X_NOISE_N_M = 18,
 
      TORQUE_Y_NOISE_N_M = 19,
 
      TORQUE_Z_NOISE_N_M = 20,
 
      NAVSAT_HORIZONTAL_POSITION_NOISE = 21,
 
      NAVSAT_VERTICAL_POSITION_NOISE = 22,
 
      NAVSAT_HORIZONTAL_VELOCITY_NOISE = 23,
 
      NAVSAT_VERTICAL_VELOCITY_NOISE = 24,
 
      AIR_SPEED_NOISE_PASCALS = 25,
 
      SENSOR_NOISE_TYPE_END
    };
 
 
    enum SensorDistortionType
    {
      SENSOR_DISTORTION_TYPE_BEGIN = 0,
 
      NO_DISTORTION = SENSOR_DISTORTION_TYPE_BEGIN,
 
      CAMERA_DISTORTION = 1,
 
      SENSOR_DISTORTION_TYPE_END
    };
 
    enum SensorCategory
    {
      // IMAGE must be the first element, and it must start with 0. Do not
      // change this! See SensorManager::sensorContainers for reference.
      IMAGE = 0,
 
      RAY = 1,
 
      OTHER = 2,
 
      CATEGORY_COUNT = 3
    };
    }
  }
}
#endif