a base sensor class More...

#include <Sensor.hh>

Public Member Functions
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.

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

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.

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

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

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.

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.

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

Protected Member Functions
	Sensor ()
	constructor

Detailed Description

a base sensor class

This class is a base for all sensor classes. It parses some common SDF elements in the <sensor> tag and is responsible for making sure sensors update at the right time.

Constructor & Destructor Documentation

◆ Sensor()

Sensor ( )

protected

constructor

◆ ~Sensor()

virtual ~Sensor ( )

virtual

destructor

Member Function Documentation

◆ AddSequence()

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.

This function will add the following key-value pair to the data field in the provided gz::msgs::Header msg.

key: "seq"
value: sequence_number

If the "seq" key already exists, then the value will be set without adding another key-value pair.

The sequence_number starts at zero, when a sensor is created, and is incremented by one each time this function is called.

Parameters

[in,out]	_msg	The header which will receive the sequence.
[in]	_seqKey	Name of the sequence to use.

◆ EnableMetrics()

bool EnableMetrics ( ) const

Get flag state for enabling performance metrics publication.

Returns: True if performance metrics are enabled, false otherwise.

◆ FrameId()

std::string FrameId ( ) const

FrameId.

Returns: FrameId of sensor.

◆ HasConnections()

virtual bool HasConnections ( ) const

virtual

Check if there are any subscribers.

Returns: True if there are subscribers, false otherwise

Reimplemented in AirPressureSensor, AirSpeedSensor, AltimeterSensor, BoundingBoxCameraSensor, CameraSensor, DepthCameraSensor, DopplerVelocityLog, ForceTorqueSensor, GpuLidarSensor, ImuSensor, Lidar, LogicalCameraSensor, MagnetometerSensor, NavSatSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ HasPendingTrigger()

bool HasPendingTrigger ( ) const

Whether the sensor has a pending trigger.

Returns: True if the sensor is in trigger mode and has a pending trigger.

◆ Id()

SensorId Id ( ) const

Get the sensor's ID.

Returns: The sensor's ID.

◆ Init()

virtual bool Init ( )

virtual

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.

Reimplemented in AirPressureSensor, AirSpeedSensor, AltimeterSensor, BoundingBoxCameraSensor, CameraSensor, DepthCameraSensor, ForceTorqueSensor, GpuLidarSensor, ImuSensor, Lidar, LogicalCameraSensor, MagnetometerSensor, NavSatSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ IsActive()

bool IsActive ( ) const

Get whether the sensor is enabled or not.

Returns: True if the sensor is active, false otherwise.

See also: SetActive

◆ IsTriggered()

bool IsTriggered ( ) const

Whether the sensor trigger mode is enabled.

Returns: True if the sensor is in trigger mode, false otherwise

◆ Load() [1/2]

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

virtual

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

Parameters

[in] _sdf SDF <sensor> or <plugin> inside of <sensor>

Returns: true if loading was successful

Reimplemented in AirPressureSensor, AirSpeedSensor, AltimeterSensor, BoundingBoxCameraSensor, CameraSensor, DepthCameraSensor, DopplerVelocityLog, ForceTorqueSensor, GpuLidarSensor, ImuSensor, Lidar, MagnetometerSensor, NavSatSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ Load() [2/2]

virtual bool Load ( sdf::ElementPtr _sdf )

virtual

Load the sensor with SDF parameters.

Parameters

[in] _sdf SDF <sensor> or <plugin> inside of <sensor>

Returns: true if loading was successful

Reimplemented in AirPressureSensor, AirSpeedSensor, AltimeterSensor, BoundingBoxCameraSensor, CameraSensor, DepthCameraSensor, DopplerVelocityLog, ForceTorqueSensor, GpuLidarSensor, ImuSensor, Lidar, LogicalCameraSensor, MagnetometerSensor, NavSatSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, and WideAngleCameraSensor.

◆ Name()

std::string Name ( ) const

Get name.

Returns: Name of sensor.

◆ NextDataUpdateTime()

std::chrono::steady_clock::duration NextDataUpdateTime ( ) const

Return the next time the sensor will generate data.

◆ Parent()

std::string Parent ( ) const

Get parent link of the sensor.

Returns: Parent link of sensor.

◆ Pose()

gz::math::Pose3d Pose ( ) const

Get the current pose.

Returns: Current pose of the sensor.

◆ PublishMetrics()

void PublishMetrics ( const std::chrono::duration< double > & _now )

Publishes information about the performance of the sensor. This method is called by Update().

Parameters

[in] _now Current time.

◆ SDF()

sdf::ElementPtr SDF ( ) const

Get the SDF used to load this sensor.

Returns: Pointer to an SDF element that contains initialization information for this sensor.

◆ SetActive()

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.

Parameters

[in] _active True to set the sensor to be active, false to disable the sensor.

See also: IsActive

◆ SetEnableMetrics()

void SetEnableMetrics ( bool _enableMetrics )

Set flag to enable publishing performance metrics.

Parameters

[in] _enableMetrics True to enable.

◆ SetFrameId()

void SetFrameId ( const std::string & _frameId )

Set Frame ID of the sensor.

Parameters

[in] _frameId Frame ID of the sensor

◆ SetNextDataUpdateTime()

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.

Parameters

[in] _time The next update time

◆ SetParent()

virtual void SetParent ( const std::string & _parent )

virtual

Set the parent of the sensor.

Reimplemented in Lidar.

◆ SetPose()

void SetPose ( const gz::math::Pose3d & _pose )

Update the pose of the sensor.

◆ SetTopic()

bool SetTopic ( const std::string & _topic )

Set topic where sensor data is published.

Parameters

[in] _topic Topic sensor publishes data to.

Returns: True if a valid topic was set.

◆ SetTriggered()

bool SetTriggered	(	bool	_triggered,
		const std::string &	_triggerTopic = `""`
	)

Enable or disable triggered mode. In this mode,.

the sensor will only update if a new message has been published to the passed _triggerTopic since the last update,
until the next message is published on _triggerTopic, all Update calls will return false, and

if the sensor has a pending trigger, the next Update call will ignore the sensor's update rate and try generate data immediately.

Parameters

[in]	_triggered	Sets triggered mode if true and disables it if false.
[in]	_triggerTopic	The topic on which the sensor will listen for trigger messages in triggered mode. If _triggered is true, this value should not be empty. If _triggered is false, this value is ignored.

Returns: True if the operation succeeded.

◆ SetUpdateRate()

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.

Negative rates become zero.

Parameters

[in] _hz Update rate of sensor in Hertz.

◆ Topic()

std::string Topic ( ) const

Get topic where sensor data is published.

Returns: Topic sensor publishes data to

◆ Update() [1/2]

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

pure 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()

Implemented in AirPressureSensor, AirSpeedSensor, AltimeterSensor, BoundingBoxCameraSensor, CameraSensor, DepthCameraSensor, DopplerVelocityLog, ForceTorqueSensor, GpuLidarSensor, ImuSensor, Lidar, LogicalCameraSensor, MagnetometerSensor, NavSatSensor, RgbdCameraSensor, SegmentationCameraSensor, ThermalCameraSensor, WideAngleCameraSensor, AirPressureSensor, AirSpeedSensor, AltimeterSensor, CameraSensor, ForceTorqueSensor, ImuSensor, LogicalCameraSensor, and MagnetometerSensor.

◆ Update() [2/2]

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.

◆ UpdateRate()

double UpdateRate ( ) const

Get the update rate of the sensor.

The update rate is the number of times per second a sensor should generate and output data.

Returns: _hz update rate of sensor.

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

Sensor.hh

Gazebo Sensors

API Reference

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Sensor()

◆ ~Sensor()

Member Function Documentation

◆ AddSequence()

◆ EnableMetrics()

◆ FrameId()

◆ HasConnections()

◆ HasPendingTrigger()

◆ Id()

◆ Init()

◆ IsActive()

◆ IsTriggered()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Name()

◆ NextDataUpdateTime()

◆ Parent()

◆ Pose()

◆ PublishMetrics()

◆ SDF()

◆ SetActive()

◆ SetEnableMetrics()

◆ SetFrameId()

◆ SetNextDataUpdateTime()

◆ SetParent()

◆ SetPose()

◆ SetTopic()

◆ SetTriggered()

◆ SetUpdateRate()

◆ Topic()

◆ Update() [1/2]

◆ Update() [2/2]

◆ UpdateRate()