LogicalCameraSensor Class Reference

Logical Camera Sensor Class. More...

#include <LogicalCameraSensor.hh>

Public Member Functions
	LogicalCameraSensor ()
	constructor
virtual	~LogicalCameraSensor ()
	destructor
double	AspectRatio () const
	Get the aspect ratio, which is the width divided by height of the near or far planes.
double	Far () const
	Get the far distance. This is the distance from the frustum's vertex to the farthest plane.
virtual bool	HasConnections () const override
	Check if there are any subscribers.
gz::math::Angle	HorizontalFOV () const
	Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.
msgs::LogicalCameraImage	Image () const
	Get the latest image. An image is an instance of msgs::LogicalCameraImage, which contains a list of detected models.
virtual bool	Init () override
	Initialize values in the sensor.
virtual bool	Load (sdf::ElementPtr _sdf) override
	Load the sensor with SDF parameters.
double	Near () const
	Get the near distance. This is the distance from the frustum's vertex to the closest plane.
void	SetModelPoses (std::map< std::string, math::Pose3d > &&_models)
	Set the models currently in the world.
virtual bool	Update (const std::chrono::steady_clock::duration &_now) override
	Force the sensor to generate data.
virtual bool	Update (const std::chrono::steady_clock::duration &_now)=0
	Force the sensor to generate data.
bool	Update (const std::chrono::steady_clock::duration &_now, const bool _force)
	Update the sensor.
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.
bool	IsActive () const
	Get whether the sensor is enabled or not.
bool	IsTriggered () const
	Whether the sensor trigger mode is enabled.
virtual bool	Load (const sdf::Sensor &_sdf)
	Load the sensor based on data from an sdf::Sensor object.
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 Sensor
	Sensor ()
	constructor

Detailed Description

Logical Camera Sensor Class.

A logical camera reports locations of objects. This camera finds models within the sensor's frustum and publishes information about the models on the sensor's topic.

Constructor & Destructor Documentation

LogicalCameraSensor()

LogicalCameraSensor

(

)

constructor

~LogicalCameraSensor()

virtual ~LogicalCameraSensor ( )

virtual

destructor

Member Function Documentation

AspectRatio()

double AspectRatio

(

)

const

Get the aspect ratio, which is the width divided by height of the near or far planes.

Returns

The frustum's aspect ratio.

Far()

double Far

(

)

const

Get the far distance. This is the distance from the frustum's vertex to the farthest plane.

Returns

Far distance.

HasConnections()

virtual bool HasConnections ( ) const

overridevirtual

Check if there are any subscribers.

Returns

True if there are subscribers, false otherwise

Reimplemented from Sensor.

HorizontalFOV()

gz::math::Angle HorizontalFOV

(

)

const

Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Returns

The field of view.

Image()

msgs::LogicalCameraImage Image

(

)

const

Get the latest image. An image is an instance of msgs::LogicalCameraImage, which contains a list of detected models.

Returns

List of detected models.

Init()

virtual bool Init ( )

overridevirtual

Initialize values in the sensor.

Returns

True on success

Reimplemented from Sensor.

Load()

virtual bool Load ( sdf::ElementPtr  _sdf )

overridevirtual

Load the sensor with SDF parameters.

Parameters

[in]

_sdf

SDF Sensor parameters.

Returns

true if loading was successful

Reimplemented from Sensor.

Near()

double Near

(

)

const

Get the near distance. This is the distance from the frustum's vertex to the closest plane.

Returns

Near distance.

SetModelPoses()

void SetModelPoses

(

std::map< std::string, math::Pose3d > &&

_models

)

Set the models currently in the world.

Parameters

[in]

_models

A map of model names to their world pose.

Update() [1/3]

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

overridevirtual

Force the sensor to generate data.

Parameters

[in]

_now

The current time

Returns

true if the update was successfull

Implements Sensor.

Update() [2/3]

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

virtual

Force the sensor to generate data.

This method must be overridden by sensors. Subclasses should not not make a decision about whether or not they need to update. The Sensor class will make sure Update() is called at the correct time.

If a subclass wants to have a variable update rate it should call SetUpdateRate().

A subclass should return false if there was an error while updating

Parameters

[in]

_now

The current time

Returns

true if the update was successfull

See also

SetUpdateRate()

Implements Sensor.

Update() [3/3]

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

Update the sensor.

This is called by the manager, and is responsible for determining if this sensor needs to generate data at this time. If so, the subclasses' Update() method will be called.

Parameters

[in]	_now	The current time
[in]	_force	Force the update to happen even if it's not time

Returns

True if the update was performed (_force was true or _now >= next_update_time or sensor had a pending trigger) and the sensor's bool Sensor::Update(std::chrono::steady_clock::time_point) function returned true. False otherwise.

Remarks

If forced the NextUpdateTime() will be unchanged.

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

• LogicalCameraSensor.hh