NavSat Sensor Class. More...

#include <NavSatSensor.hh>

Public Member Functions
	NavSatSensor ()
	Constructor.

virtual	~NavSatSensor ()
	Destructor.

double	Altitude () const
	Get NavSat altitude above sea level.

virtual bool	HasConnections () const override
	Check if there are any subscribers.

virtual bool	Init () override
	Initialize values in the sensor.

const math::Angle &	Latitude () const
	Get the latitude of the NavSat, wrapped between +/- 180 degrees.

virtual bool	Load (const sdf::Sensor &_sdf) override
	Load the sensor based on data from an sdf::Sensor object.

virtual bool	Load (sdf::ElementPtr _sdf) override
	Load the sensor with SDF parameters.

const math::Angle &	Longitude () const
	Get the longitude of the NavSat, wrapped between +/- 180 degrees.

void	SetAltitude (double _altitude)
	Set the altitude of the NavSat.

void	SetLatitude (const math::Angle &_latitude)
	Set the latitude of the NavSat.

void	SetLongitude (const math::Angle &_longitude)
	Set the longitude of the NavSat.

void	SetPosition (const math::Angle &_latitude, const math::Angle &_longitude, double _altitude=0.0)
	Easy short hand for setting the position of the sensor.

void	SetVelocity (const math::Vector3d &_vel)
	Set the velocity of the NavSat in ENU world frame.

virtual bool	Update (const std::chrono::steady_clock::duration &_now) override
	Update the sensor and generate data.

const math::Vector3d &	Velocity () const
	Get the velocity of the NavSat sensor in the ENU world frame.

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.

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

NavSat Sensor Class.

A sensor that reports position and velocity readings over Gazebo Transport using spherical coordinates (latitude / longitude).

By default, it publishes gz::msgs::NavSat messages on the /.../navsat topic.

This sensor assumes the world is using the East-North-Up (ENU) frame.

Constructor & Destructor Documentation

◆ NavSatSensor()

NavSatSensor ( )

Constructor.

◆ ~NavSatSensor()

virtual ~NavSatSensor ( )

virtual

Destructor.

Member Function Documentation

◆ Altitude()

double Altitude ( ) const

Get NavSat altitude above sea level.

Returns: Altitude in meters

◆ HasConnections()

virtual bool HasConnections ( ) const

overridevirtual

Check if there are any subscribers.

Returns: True if there are subscribers, false otherwise

Reimplemented from Sensor.

◆ Init()

virtual bool Init ( )

overridevirtual

Initialize values in the sensor.

Returns: True on success

Reimplemented from Sensor.

◆ Latitude()

const math::Angle & Latitude ( ) const

Get the latitude of the NavSat, wrapped between +/- 180 degrees.

Returns: Latitude angle.

◆ Load() [1/2]

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

overridevirtual

Load the sensor based on data from an sdf::Sensor object.

Parameters

[in] _sdf SDF Sensor parameters.

Returns: true if loading was successful

Reimplemented from Sensor.

◆ Load() [2/2]

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.

◆ Longitude()

const math::Angle & Longitude ( ) const

Get the longitude of the NavSat, wrapped between +/- 180 degrees.

Returns: Longitude angle.

◆ SetAltitude()

void SetAltitude ( double _altitude )

Set the altitude of the NavSat.

Parameters

[in] _altitude altitude of NavSat in meters

◆ SetLatitude()

void SetLatitude ( const math::Angle & _latitude )

Set the latitude of the NavSat.

Parameters

[in] _latitude Latitude of NavSat

◆ SetLongitude()

void SetLongitude ( const math::Angle & _longitude )

Set the longitude of the NavSat.

Parameters

[in] _longitude Longitude of NavSat

◆ SetPosition()

void SetPosition	(	const math::Angle &	_latitude,
		const math::Angle &	_longitude,
		double	_altitude = `0.0`
	)

Easy short hand for setting the position of the sensor.

Parameters

[in]	_latitude	Latitude angle.
[in]	_longitude	Longitude angle.
[in]	_altitude	Altitude in meters; defaults to zero.

◆ SetVelocity()

void SetVelocity ( const math::Vector3d & _vel )

Set the velocity of the NavSat in ENU world frame.

Parameters

[in] _vel NavSat in meters per second.

◆ Update()

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

overridevirtual

Update the sensor and generate data.

Parameters

[in] _now The current time

Returns: true if the update was successfull

Implements Sensor.

◆ Velocity()

const math::Vector3d & Velocity ( ) const

Get the velocity of the NavSat sensor in the ENU world frame.

Returns: Velocity in meters per second

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

NavSatSensor.hh

Gazebo Sensors

API Reference

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NavSatSensor()

◆ ~NavSatSensor()

Member Function Documentation

◆ Altitude()

◆ HasConnections()

◆ Init()

◆ Latitude()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Longitude()

◆ SetAltitude()

◆ SetLatitude()

◆ SetLongitude()

◆ SetPosition()

◆ SetVelocity()

◆ Update()

◆ Velocity()