Gazebo Gazebo

API Reference

6.16.0
Sensors.hh
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2  * Copyright (C) 2018 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef GZ_GAZEBO_SYSTEMS_SENSORS_HH_
18 #define GZ_GAZEBO_SYSTEMS_SENSORS_HH_
19 
20 #include <memory>
21 #include <string>
22 
23 #include <gz/sim/config.hh>
24 #include <gz/sim/System.hh>
25 #include <sdf/Sensor.hh>
26 
27 namespace ignition
28 {
29 namespace gazebo
30 {
31 // Inline bracket to help doxygen filtering.
32 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
33 namespace systems
34 {
35  // Forward declarations.
36  class SensorsPrivate;
37 
56  class Sensors:
57  public System,
58  public ISystemConfigure,
59  public ISystemUpdate,
60  public ISystemPostUpdate
61  {
63  public: explicit Sensors();
64 
66  public: ~Sensors() override;
67 
68  // Documentation inherited
69  public: void Configure(const Entity &_id,
72  EventManager &_eventMgr) final;
73 
74  // Documentation inherited
75  public: void Update(const UpdateInfo &_info,
76  EntityComponentManager &_ecm) final;
77 
78  // Documentation inherited
79  public: void PostUpdate(const UpdateInfo &_info,
80  const EntityComponentManager &_ecm) final;
81 
87  private : std::string CreateSensor(const Entity &_entity,
88  const sdf::Sensor &_sdf,
89  const std::string &_parentName);
90 
93  private : void RemoveSensor(const Entity &_entity);
94 
96  private: std::unique_ptr<SensorsPrivate> dataPtr;
97  };
98  }
99 }
100 }
101 }
102 #endif
void Update(const UpdateInfo &_info, EntityComponentManager &_ecm) final
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
This library is part of the Gazebo project.
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) final
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
~Sensors() override
Destructor.
Interface for a system that uses the PostUpdate phase.
Definition: gz/sim/System.hh:135
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:90
A system that manages sensors.
Definition: Sensors.hh:56
void Configure(const Entity &_id, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
Configure the system.
Base class for a System.
Definition: gz/sim/System.hh:75
Interface for a system that uses the Update phase.
Definition: gz/sim/System.hh:128
Component< NoData, class SensorTag > Sensor
A component that identifies an entity as being a sensor.
Definition: gz/sim/components/Sensor.hh:35