Sensor Class Reference

This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a sensor entity. More...

#include <gz/sim/Sensor.hh>

Public Member Functions
	Sensor (sim::Entity _entity=kNullEntity)
	Constructor.
sim::Entity	Entity () const
	Get the entity which this Sensor is related to.
std::optional< std::string >	Name (const EntityComponentManager &_ecm) const
	Get the sensor's unscoped name.
std::optional< sim::Entity >	Parent (const EntityComponentManager &_ecm) const
	Get the parent entity. This can be a link or a joint.
std::optional< math::Pose3d >	Pose (const EntityComponentManager &_ecm) const
	Get the pose of the sensor.
void	ResetEntity (sim::Entity _newEntity)
	Reset Entity to a new one.
std::optional< std::string >	Topic (const EntityComponentManager &_ecm) const
	Get the topic of the sensor.
bool	Valid (const EntityComponentManager &_ecm) const
	Check whether this sensor correctly refers to an entity that has a components::Sensor.

Detailed Description

This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a sensor entity.

For example, given a sensor's entity, find the value of its name component, one could use the entity-component manager (ecm) directly as follows:

std::string name = ecm.Component<components::Name>(entity)->Data();

Using this class however, the same information can be obtained with a simpler function call:

Sensor sensor(entity); std::string name = sensor.Name(ecm);

Constructor & Destructor Documentation

Sensor()

Sensor ( sim::Entity  _entity = kNullEntity )

explicit

Constructor.

Parameters

[in]

_entity

Sensor entity

Member Function Documentation

Entity()

sim::Entity Entity

(

)

const

Get the entity which this Sensor is related to.

Returns

Sensor entity.

Name()

std::optional< std::string > Name

(

const EntityComponentManager &

_ecm

)

const

Get the sensor's unscoped name.

Parameters

[in]

_ecm

Entity-component manager.

Returns

Sensor's name or nullopt if the entity does not have a components::Name component

Parent()

std::optional< sim::Entity > Parent

(

const EntityComponentManager &

_ecm

)

const

Get the parent entity. This can be a link or a joint.

Parameters

[in]

_ecm

Entity-component manager.

Returns

Parent entity or nullopt if the entity does not have a components::ParentEntity component.

Pose()

std::optional< math::Pose3d > Pose

(

const EntityComponentManager &

_ecm

)

const

Get the pose of the sensor.

Parameters

[in]

_ecm

Entity-component manager.

Returns

Pose of the sensor or nullopt if the entity does not have a components::Pose component.

ResetEntity()

void ResetEntity

(

sim::Entity

_newEntity

)

Reset Entity to a new one.

Parameters

[in]

_newEntity

New sensor entity.

Topic()

std::optional< std::string > Topic

(

const EntityComponentManager &

_ecm

)

const

Get the topic of the sensor.

Parameters

[in]

_ecm

Entity-component manager.

Returns

Topic of the sensor or nullopt if the entity does not have a components::SensorTopic component.

Valid()

bool Valid

(

const EntityComponentManager &

_ecm

)

const

Check whether this sensor correctly refers to an entity that has a components::Sensor.

Parameters

[in]

_ecm

Entity-component manager.

Returns

True if it's a valid sensor in the manager.

---

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

• Sensor.hh