Sensor.hh
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17 #ifndef SDF_SENSOR_HH_
18 #define SDF_SENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <ignition/math/Pose3.hh>
23 #include "sdf/Element.hh"
24 #include "sdf/SemanticPose.hh"
25 #include "sdf/Types.hh"
26 #include "sdf/system_util.hh"
27 
28 namespace sdf
29 {
30  // Inline bracket to help doxygen filtering.
31  inline namespace SDF_VERSION_NAMESPACE {
32  //
33 
34  // Forward declarations.
35  class AirPressure;
36  class Altimeter;
37  class Camera;
38  class Imu;
39  class Lidar;
40  class Magnetometer;
41  class SensorPrivate;
42  struct PoseRelativeToGraph;
43 
46  // Developer note: Make sure to update sensorTypeStrs in the source file
47  // when changing this enum.
48  enum class SensorType
49  {
51  NONE = 0,
52 
54  ALTIMETER = 1,
55 
57  CAMERA = 2,
58 
60  CONTACT = 3,
61 
63  DEPTH_CAMERA = 4,
64 
66  FORCE_TORQUE = 5,
67 
69  GPS = 6,
70 
72  GPU_LIDAR = 7,
73 
75  IMU = 8,
76 
78  LOGICAL_CAMERA = 9,
79 
81  MAGNETOMETER = 10,
82 
84  MULTICAMERA = 11,
85 
87  LIDAR = 12,
88 
90  RFID = 13,
91 
93  RFIDTAG = 14,
94 
96  SONAR = 15,
97 
99  WIRELESS_RECEIVER = 16,
100 
103 
105  AIR_PRESSURE = 18,
106 
109  RGBD_CAMERA = 19,
110 
112  THERMAL_CAMERA = 20
113  };
114 
117  {
119  public: Sensor();
120 
123  public: Sensor(const Sensor &_sensor);
124 
127  public: Sensor(Sensor &&_sensor) noexcept;
128 
130  public: ~Sensor();
131 
138  public: Errors Load(ElementPtr _sdf);
139 
143  public: std::string Name() const;
144 
148  public: void SetName(const std::string &_name);
149 
152  public: std::string Topic() const;
153 
156  public: void SetTopic(const std::string &_topic);
157 
164  public: const ignition::math::Pose3d &Pose() const
165  SDF_DEPRECATED(9.0);
166 
171  public: void SetPose(const ignition::math::Pose3d &_pose)
172  SDF_DEPRECATED(9.0);
173 
179  public: const ignition::math::Pose3d &RawPose() const;
180 
184  public: void SetRawPose(const ignition::math::Pose3d &_pose);
185 
190  public: const std::string &PoseRelativeTo() const;
191 
196  public: void SetPoseRelativeTo(const std::string &_frame);
197 
203  public: const std::string &PoseFrame() const
204  SDF_DEPRECATED(9.0);
205 
211  public: void SetPoseFrame(const std::string &_frame)
212  SDF_DEPRECATED(9.0);
213 
217  public: sdf::SemanticPose SemanticPose() const;
218 
223  public: sdf::ElementPtr Element() const;
224 
227  public: SensorType Type() const;
228 
231  public: void SetType(const SensorType _type);
232 
239  public: bool SetType(const std::string &_typeStr);
240 
243  public: std::string TypeStr() const;
244 
249  public: double UpdateRate() const;
250 
255  public: void SetUpdateRate(double _hz);
256 
260  public: Sensor &operator=(const Sensor &_sensor);
261 
265  public: Sensor &operator=(Sensor &&_sensor);
266 
270  public: bool operator==(const Sensor &_sensor) const;
271 
276  public: bool operator!=(const Sensor &_sensor) const;
277 
283  public: const Magnetometer *MagnetometerSensor() const;
284 
287  public: void SetMagnetometerSensor(const Magnetometer &_mag);
288 
294  public: const Altimeter *AltimeterSensor() const;
295 
298  public: void SetAltimeterSensor(const Altimeter &_alt);
299 
305  public: const AirPressure *AirPressureSensor() const;
306 
309  public: void SetAirPressureSensor(const AirPressure &_air);
310 
313  public: void SetCameraSensor(const Camera &_cam);
314 
320  public: const Camera *CameraSensor() const;
321 
324  public: void SetImuSensor(const Imu &_imu);
325 
331  public: const Imu *ImuSensor() const;
332 
338  public: const Lidar *LidarSensor() const;
339 
342  public: void SetLidarSensor(const Lidar &_lidar);
343 
348  private: void SetXmlParentName(const std::string &_xmlParentName);
349 
354  private: void SetPoseRelativeToGraph(
355  std::weak_ptr<const PoseRelativeToGraph> _graph);
356 
360  friend class Link;
361 
363  private: SensorPrivate *dataPtr = nullptr;
364  };
365  }
366 }
367 #endif
sdf::SDF_VERSION_NAMESPACE::Sensor::Sensor
Sensor(Sensor &&_sensor) noexcept
Move constructor.
sdf::SDF_VERSION_NAMESPACE::SensorType::GPU_LIDAR
@ GPU_LIDAR
A GPU based lidar sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::THERMAL_CAMERA
@ THERMAL_CAMERA
A thermal camera sensor.
sdf::SDF_VERSION_NAMESPACE::Sensor::~Sensor
~Sensor()
Destructor.
sdf::SDF_VERSION_NAMESPACE::SensorType::MAGNETOMETER
@ MAGNETOMETER
A magnetometer sensor.
sdf::v9::AirPressure
AirPressure contains information about a general purpose fluid pressure sensor.
Definition: AirPressure.hh:36
sdf::SDF_VERSION_NAMESPACE::Sensor::Sensor
Sensor(const Sensor &_sensor)
Copy constructor.
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:33
sdf::SDF_VERSION_NAMESPACE::Sensor::SetName
void SetName(const std::string &_name)
Set the name of the sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::MULTICAMERA
@ MULTICAMERA
A multicamera sensor.
sdf::SDF_VERSION_NAMESPACE::Sensor::SetTopic
void SetTopic(const std::string &_topic)
Set the topic on which sensor data should be published.
sdf::SDF_VERSION_NAMESPACE::Sensor::Load
Errors Load(ElementPtr _sdf)
Load the sensor based on a element pointer.
sdf::SDF_VERSION_NAMESPACE::SensorType::AIR_PRESSURE
@ AIR_PRESSURE
An air pressure sensor.
sdf::v9::Imu
Imu contains information about an imu sensor.
Definition: Imu.hh:36
sdf::SDF_VERSION_NAMESPACE::Sensor::Topic
std::string Topic() const
Get the topic on which sensor data should be published.
Types.hh
sdf::SDF_VERSION_NAMESPACE::SensorType::CAMERA
@ CAMERA
A monocular camera sensor.
SemanticPose.hh
sdf::v9::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
sdf::SDF_VERSION_NAMESPACE::SensorType::DEPTH_CAMERA
@ DEPTH_CAMERA
A depth camera sensor.
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
sdf::SDF_VERSION_NAMESPACE::SensorType::GPS
@ GPS
A GPS sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::WIRELESS_RECEIVER
@ WIRELESS_RECEIVER
A wireless receiver.
sdf::SDF_VERSION_NAMESPACE::SensorType::RFIDTAG
@ RFIDTAG
An RFID tag.
sdf::v9::SDF_DEPRECATED
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
sdf::SDF_VERSION_NAMESPACE::SensorType::FORCE_TORQUE
@ FORCE_TORQUE
A force-torque sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::RFID
@ RFID
An RFID sensor.
sdf::SDF_VERSION_NAMESPACE::Sensor::Name
std::string Name() const
Get the name of the sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType
SensorType
Definition: Sensor.hh:49
sdf::SDF_VERSION_NAMESPACE::SensorType::IMU
@ IMU
An IMU sensor.
sdf::v9::Camera
Information about a monocular camera sensor.
Definition: Camera.hh:64
sdf::SDF_VERSION_NAMESPACE::SensorType::SONAR
@ SONAR
A sonar tag sensor.
sdf::SDF_VERSION_NAMESPACE::SensorType::LIDAR
@ LIDAR
A CPU based lidar sensor.
sdf::v9::Element
SDF Element class.
Definition: Element.hh:70
sdf::v9::SemanticPose
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
sdf::SDF_VERSION_NAMESPACE::SensorType::LOGICAL_CAMERA
@ LOGICAL_CAMERA
A logical camera sensor.
sdf::v9::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
sdf::SDF_VERSION_NAMESPACE::SensorType::ALTIMETER
@ ALTIMETER
An altimeter sensor.
sdf::v9::Lidar
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:105
sdf::SDF_VERSION_NAMESPACE::SensorType::RGBD_CAMERA
@ RGBD_CAMERA
An RGBD sensor, which produces both a color image and a depth image.
sdf::SDF_VERSION_NAMESPACE::SensorType::NONE
@ NONE
An unspecified sensor type.
system_util.hh
sdf::v9::Altimeter
Altimeter contains information about an altimeter sensor.
Definition: Altimeter.hh:35
sdf::v9::Magnetometer
Magnetometer contains information about a magnetometer sensor.
Definition: Magnetometer.hh:35
sdf::SDF_VERSION_NAMESPACE::SensorType::CONTACT
@ CONTACT
A contact sensor.
sdf::SDF_VERSION_NAMESPACE::Sensor::Pose
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the sensor.
sdf::SDF_VERSION_NAMESPACE::Sensor::Sensor
Sensor()
Default constructor.
sdf::SDF_VERSION_NAMESPACE::Sensor
Information about an SDF sensor.
Definition: Sensor.hh:117
Element.hh
sdf::SDF_VERSION_NAMESPACE::SensorType::WIRELESS_TRANSMITTER
@ WIRELESS_TRANSMITTER
A wireless transmitter.