Doppler velocity log (DVL) sensor, built as a custom rendering sensor to leverage GPU shaders for speed. More...

#include <DopplerVelocityLog.hh>

Public Member Functions
	DopplerVelocityLog ()

	~DopplerVelocityLog ()

virtual bool	HasConnections () const override
	Inherits documentation from parent class.

virtual bool	Load (const sdf::Sensor &_sdf) override
	Inherits documentation from parent class.

virtual bool	Load (sdf::ElementPtr _sdf) override
	Inherits documentation from parent class.

virtual void	PostUpdate (const std::chrono::steady_clock::duration &_now)
	Perform any sensor updates after the rendering pass.

std::vector< gz::rendering::SensorPtr >	RenderingSensors () const
	Yield rendering sensors that underpin the implementation.

void	SetEntity (uint64_t entity)
	Set this sensor's entity ID (for world state lookup).

void	SetEnvironmentalData (const EnvironmentalData &_data)
	Set environmental `_data` to support DVL water-tracking.

void	SetScene (gz::rendering::ScenePtr _scene) override
	Inherits documentation from parent class.

void	SetWorldState (const WorldState &_state)
	Set world `_state` to support DVL water and bottom-tracking.

virtual bool	Update (const std::chrono::steady_clock::duration &_now) override
	Inherits documentation from parent class.

Public Member Functions inherited from RenderingSensor
virtual	~RenderingSensor ()
	destructor

bool	ManualSceneUpdate () const
	Get whether the scene graph is updated manually. Defaults to false.

void	Render ()
	Render update. This performs the actual render operation.

rendering::ScenePtr	Scene () const
	Get the rendering scene.

void	SetManualSceneUpdate (bool _manual)
	Set whether to update the scene graph manually. If set to true, it is expected that rendering::Scene::PreRender is called manually before calling Render()

virtual void	SetScene (rendering::ScenePtr _scene)
	Set the rendering scene.

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor

void	AddSequence (gz::msgs::Header *_msg, const std::string &_seqKey="default")
	Add a sequence number to a gz::msgs::Header. This function can be called by a sensor that wants to add a sequence number to a sensor message in order to have improved accountability for generated sensor data.

bool	EnableMetrics () const
	Get flag state for enabling performance metrics publication.

std::string	FrameId () const
	FrameId.

bool	HasPendingTrigger () const
	Whether the sensor has a pending trigger.

SensorId	Id () const
	Get the sensor's ID.

virtual bool	Init ()
	Initialize values in the sensor This will set the next update time to zero. This is particularly useful if simulation time has jumped backward, for example during a seek backward in a log file.

bool	IsActive () const
	Get whether the sensor is enabled or not.

bool	IsTriggered () const
	Whether the sensor trigger mode is enabled.

std::string	Name () const
	Get name.

std::chrono::steady_clock::duration	NextDataUpdateTime () const
	Return the next time the sensor will generate data.

std::string	Parent () const
	Get parent link of the sensor.

gz::math::Pose3d	Pose () const
	Get the current pose.

void	PublishMetrics (const std::chrono::duration< double > &_now)
	Publishes information about the performance of the sensor. This method is called by Update().

sdf::ElementPtr	SDF () const
	Get the SDF used to load this sensor.

void	SetActive (bool _active)
	Enable or disable the sensor. Disabled sensors will not generate or publish data unless Update is called with the '_force' argument set to true.

void	SetEnableMetrics (bool _enableMetrics)
	Set flag to enable publishing performance metrics.

void	SetFrameId (const std::string &_frameId)
	Set Frame ID of the sensor.

void	SetNextDataUpdateTime (const std::chrono::steady_clock::duration &_time)
	Manually set the next time the sensor will generate data Useful for accomodating jumps backwards in time as well as specifying updates for non-uniformly updating sensors.

virtual void	SetParent (const std::string &_parent)
	Set the parent of the sensor.

void	SetPose (const gz::math::Pose3d &_pose)
	Update the pose of the sensor.

bool	SetTopic (const std::string &_topic)
	Set topic where sensor data is published.

bool	SetTriggered (bool _triggered, const std::string &_triggerTopic="")
	Enable or disable triggered mode. In this mode,.

void	SetUpdateRate (const double _hz)
	Set the update rate of the sensor. An update rate of zero means that the sensor is updated every cycle. It's zero by default.

std::string	Topic () const
	Get topic where sensor data is published.

bool	Update (const std::chrono::steady_clock::duration &_now, const bool _force)
	Update the sensor.

double	UpdateRate () const
	Get the update rate of the sensor.

Additional Inherited Members
Protected Member Functions inherited from RenderingSensor
	RenderingSensor ()
	constructor

void	AddSensor (rendering::SensorPtr _sensor)
	Add a rendering::Sensor. Its render updates will be handled by this base class.

Protected Member Functions inherited from Sensor
	Sensor ()
	constructor

Detailed Description

Doppler velocity log (DVL) sensor, built as a custom rendering sensor to leverage GPU shaders for speed.

By default, this sensor uses an x-forward, y-left, z-up coordinate frame to report all measurements. All acoustic beams' lobes are expected to face downwards.

/// <sensor type="custom" gz:type="dvl">
///   <gz:dvl>
///     <arrangement degrees="true">
///       <beam id="1">
///         <aperture></aperture>
///         <rotation></rotation>
///         <tilt></tilt>
///       </beam>
///     </arrangement>
///     <tracking>
///       <bottom_mode>
///         <when></when>
///         <noise type="gaussian">
///           <stddev></stddev>
///         </noise>
///         <visualize></visualize>
///       </bottom_mode>
///       <water_mass_mode>
///         <when></when>
///         <water_velocity>
///           <x></x>
///           <y></y>
///           <z></z>
///         </water_velocity>
///         <boundaries>
///           <near>20.</near>
///           <far>60.</far>
///         </boundaries>
///         <bins>10</bins>
///         <noise type="gaussian">
///           <stddev></stddev>
///         </noise>
///         <visualize></visualize>
///       </water_mass_mode>
///     <minimum_range></minimum_range>
///     <maximum_range></maximum_range>
///     <resolution></resolution>
///     <reference_frame></reference_frame>
///   </gz:dvl>
/// </sensor>
///

- `<arrangement>` describes the arrangement of acoustic beams
in the DVL sensor frame. It may include a `degrees` attribute
to signal use of degrees instead of radians for all angles
within, defaulting to radians if left unspecified.
- `<arrangement><beam>` describes one acoustic beam in the
arrangement. May include an `id` attribute, defaulting to the
last specified id plus 1 if left unspecified (or 0 if it's the
first).
- `<arrangement><beam><aperture>` sets the aperture angle for
the acoustic beam's main lobe (modelled as a cone). Defaults
to 90 degrees if left unspecified.
- `<arrangement><beam><rotation>` sets the rotation angle of
the acoustic beam's symmetry axis about the sensor frame z
axis. Defaults to 0 degrees if left unspecified.
- `<arrangement><beam><tilt>` sets the inclination angle of
the acoustic beam's symmetry axis w.r.t. the sensor frame -z
axis (ie. rotation about the -y axis). Defaults to 0 degrees
if left unspecified.
- `<arrangement><visualize>` enables visual aids to evaluate
acoustic beam arrangements. Beam lobes' are rendered and adjusted
in size to match range measurements.
- `<tracking>` configures velocity tracking modes for the DVL.
- `<tracking><bottom_mode>` configures the bottom tracking mode.
- `<tracking><bottom_mode><when>` enables (or disables) the bottom
tracking mode. Supported values are 'never', to disable it completely
(as if no <bottom_mode> configuration had been specified), 'always' to
enable it at all times, and 'best' to track at all times but only
publish estimates when it performs best among all configured modes.
Defaults to 'always' if left unspecified.
- `<tracking><bottom_mode><noise>` sets the noise model for velocity
estimates. Only 'gaussian' noise is currently supported. Defaults to
none if left unspecified.
- `<tracking><bottom_mode><visualize>` enables visual aids to validate
bottom tracking. Acoustic beam reflection paths are depicted, where
the color scales linearly in hue with measured speed and low opacity
sections depict range uncertainty (+/- 2 standard deviations).
- `<tracking><water_mass_mode>` configures the water-mass tracking
mode.
- `<tracking><water_mass_mode><when>` enables (or disables) the
water-mass tracking mode. Supported values are 'never', to disable it
completely (as if no <water_mass_mode> configuration had been
specified), 'always' to enable it at all times, and 'best' to track at
all times but only publish estimates when it performs best among all
configured modes. Defaults to 'always' if left unspecified.
- `<tracking><water_mass_mode><water_velocity>` set the variables in
world environmental data to be used to sample water velocity w.r.t.
the world frame in each axis. At least one axis must be specified.
- `<tracking><water_mass_mode><water_velocity><x>` set the variable
in world environmental data to be used to sample water velocity w.r.t.
the world frame along the x-axis (that is, towards east). Defaults to
none (and thus zero water velocity in this axis) if left unspecified.
- `<tracking><water_mass_mode><water_velocity><y>` set the variable in
world environmental data to be used to sample water velocity w.r.t. the
world frame along the y-axis (that is, towards north). Defaults to none
(and thus zero water velocity in this axis) if left unspecified.
- `<tracking><water_mass_mode><water_velocity><z>` set the variable in
world environmental data to be used to sample water velocity w.r.t. the
world frame along the z-axis (that is, upwards). Defaults to none (and
thus zero water velocity in this axis) if left unspecified.
- `<tracking><water_mass_mode><boundaries>` sets water-mass layer
boundaries. These boundaries are planar at given z-offsets in the
sensor frame.
- `<tracking><water_mass_mode><boundaries><near>` sets the water-mass
layer boundary that is the closest to the sensor.
- `<tracking><water_mass_mode><boundaries><far>` sets the water-mass
layer boundary that is the farthest to the sensor.
- `<tracking><water_mass_mode><bins>` sets the number of bins to use
for water-mass velocity sampling. Each bin is a slab of water between
boundaries.
- `<tracking><water_mass_mode><noise>` sets the noise model for
velocity estimates. Only 'gaussian' noise is currently supported.
Defaults to none if left unspecified.
- `<tracking><water_mass_mode><visualize>` enables visual aids to
validate bottom tracking. Acoustic beam reflection paths are depicted,
where the color scales linearly in hue with measured speed and low
opacity sections depict range uncertainty (+/- 2 standard deviations).
- `<type>` sets the sensor type, either 'piston' or 'phased_array'.
Defaults to unspecified.
- `<resolution>` sets the resolution of the beam for bottom
tracking at a 1 m distance. Defaults to 1 cm if left unspecified.
- `<minimum_range>` sets a lower bound for range measurements.
Defaults to 1 cm if left unspecified.
- `<maximum_range>` sets an upper bound for range measurements.
Defaults to 100 m if left unspecified.
- `<reference_frame>` sets a transform from the sensor frame to the
reference frame in which all measurements are reported. Defaults to
the identity transform.

Note the tethys::DopplerVelocityLogSystem plugin must be
loaded for these custom sensors to be picked up and setup.

Constructor & Destructor Documentation

◆ DopplerVelocityLog()

DopplerVelocityLog ( )

◆ ~DopplerVelocityLog()

~DopplerVelocityLog ( )

Member Function Documentation

◆ HasConnections()

virtual bool HasConnections ( ) const

overridevirtual

Inherits documentation from parent class.

Reimplemented from Sensor.

◆ Load() [1/2]

virtual bool Load ( const sdf::Sensor & _sdf )

overridevirtual

Inherits documentation from parent class.

Reimplemented from Sensor.

◆ Load() [2/2]

virtual bool Load ( sdf::ElementPtr _sdf )

overridevirtual

Inherits documentation from parent class.

Reimplemented from Sensor.

◆ PostUpdate()

virtual void PostUpdate ( const std::chrono::steady_clock::duration & _now )

virtual

Perform any sensor updates after the rendering pass.

◆ RenderingSensors()

std::vector< gz::rendering::SensorPtr > RenderingSensors ( ) const

Yield rendering sensors that underpin the implementation.

◆ SetEntity()

void SetEntity ( uint64_t entity )

Set this sensor's entity ID (for world state lookup).

◆ SetEnvironmentalData()

void SetEnvironmentalData ( const EnvironmentalData & _data )

Set environmental _data to support DVL water-tracking.

◆ SetScene()

void SetScene ( gz::rendering::ScenePtr _scene )

override

Inherits documentation from parent class.

◆ SetWorldState()

void SetWorldState ( const WorldState & _state )

Set world _state to support DVL water and bottom-tracking.

◆ Update()

virtual bool Update ( const std::chrono::steady_clock::duration & _now )

overridevirtual

Inherits documentation from parent class.

Implements Sensor.

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

DopplerVelocityLog.hh

Gazebo Sensors

API Reference

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DopplerVelocityLog()

◆ ~DopplerVelocityLog()

Member Function Documentation

◆ HasConnections()

◆ Load() [1/2]

◆ Load() [2/2]

◆ PostUpdate()

◆ RenderingSensors()

◆ SetEntity()

◆ SetEnvironmentalData()

◆ SetScene()

◆ SetWorldState()

◆ Update()