79 lines
2.2 KiB
C++
79 lines
2.2 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2015 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
#ifndef _GAZEBO_SENSORS_MAGNETOMETER_SENSOR_HH_
|
||
|
|
#define _GAZEBO_SENSORS_MAGNETOMETER_SENSOR_HH_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
|
||
|
|
#include <sdf/sdf.hh>
|
||
|
|
#include <ignition/math/Vector3.hh>
|
||
|
|
|
||
|
|
#include "gazebo/sensors/Sensor.hh"
|
||
|
|
#include "gazebo/common/CommonTypes.hh"
|
||
|
|
#include "gazebo/sensors/SensorTypes.hh"
|
||
|
|
#include "gazebo/util/system.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace sensors
|
||
|
|
{
|
||
|
|
// Forward declare private data
|
||
|
|
class MagnetometerSensorPrivate;
|
||
|
|
|
||
|
|
/// \addtogroup gazebo_sensors
|
||
|
|
/// \{
|
||
|
|
|
||
|
|
/// \brief MagnetometerSensor to provide magnetic field measurement.
|
||
|
|
class GAZEBO_VISIBLE MagnetometerSensor: public Sensor
|
||
|
|
{
|
||
|
|
/// \brief Constructor.
|
||
|
|
public: MagnetometerSensor();
|
||
|
|
|
||
|
|
/// \brief Destructor.
|
||
|
|
public: virtual ~MagnetometerSensor();
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual void Load(const std::string & _worldName,
|
||
|
|
sdf::ElementPtr _sdf);
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual void Load(const std::string & _worldName);
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual void Init();
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual std::string GetTopic() const;
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
protected: virtual bool UpdateImpl(const bool _force);
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual void Fini();
|
||
|
|
|
||
|
|
/// \brief Accessor for current magnetic field in Tesla
|
||
|
|
/// \return Current magnetic field
|
||
|
|
public: ignition::math::Vector3d MagneticField() const;
|
||
|
|
|
||
|
|
/// \brief Private data pointer.
|
||
|
|
private: std::unique_ptr<MagnetometerSensorPrivate> dataPtr;
|
||
|
|
};
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|