Manager Class Reference

Loads and runs sensors. More...

#include <Manager.hh>

Public Member Functions
	Manager ()
	constructor
virtual	~Manager ()
	destructor
SensorId	AddSensor (std::unique_ptr< Sensor > _sensor)
	Add a sensor for this manager to manage.
template<typename SensorType , typename SdfType >
SensorType *	CreateSensor (SdfType _sdf)
	Create a sensor from an SDF ovject with a known sensor type.
bool	Init ()
	Initialize the sensor library without rendering or physics.
bool	Remove (const SensorId _id)
	Remove a sensor by ID.
void	RunOnce (const std::chrono::steady_clock::duration &_time, bool _force=false)
	Run the sensor generation one step.
Sensor *	Sensor (SensorId _id)
	Get an instance of a loaded sensor by sensor id.

Detailed Description

Loads and runs sensors.

This class is responsible for loading and running sensors, and providing sensors with common environments to generat data from.

The primary interface through which to load a sensor is LoadSensor(). This takes an sdf element pointer that should be configured with everything the sensor will need. Custom sensors configuration must be in the <plugin> tag of the sdf::Element. The manager will dynamically load the sensor library and update it.

Remarks

This class is not thread safe.

Constructor & Destructor Documentation

Manager()

Manager

(

)

constructor

~Manager()

virtual ~Manager ( )

virtual

destructor

Member Function Documentation

AddSensor()

SensorId AddSensor

(

std::unique_ptr< Sensor >

_sensor

)

Add a sensor for this manager to manage.

See also

Sensor()

Parameters

[in]

_sensor

Pointer to the sensor

Returns

A sensor id that refers to the created sensor. NO_SENSOR is returned on error.

Referenced by Manager::CreateSensor().

CreateSensor()

template<typename SensorType , typename SdfType >

SensorType * CreateSensor ( SdfType  _sdf )

inline

Create a sensor from an SDF ovject with a known sensor type.

See also

Sensor()

Parameters

[in]

_sdf

An SDF element or DOM object.

Template Parameters

SensorType	Sensor type
SdfType	It may be an sdf::ElementPtr containing a sensor or an sdf::Sensor.

Returns

A pointer to the created sensor. Null returned on error. The Manager keeps ownership of the pointer's lifetime.

References Manager::AddSensor(), SensorFactory::CreateSensor(), std::endl(), std::move(), and gz::sensors::NO_SENSOR.

Init()

bool Init

(

)

Initialize the sensor library without rendering or physics.

Returns

True if successfully initialized, false if not

Remove()

bool Remove

(

const SensorId

_id

)

Remove a sensor by ID.

Parameters

[in]

_id

ID of the sensor to remove

Returns

True if the sensor exists and removed.

RunOnce()

void RunOnce	(	const std::chrono::steady_clock::duration &	_time,
		bool	_force = false
	)

Run the sensor generation one step.

Parameters

_time	The current simulated time
_force	If true, all sensors are forced to update. Otherwise a sensor will update based on it's Hz rate.

Sensor()

Sensor * Sensor

(

SensorId

_id

)

Get an instance of a loaded sensor by sensor id.

Parameters

[in]

_id

Idenitifier of the sensor.

Returns

Pointer to the sensor, nullptr on error.

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

• Manager.hh