107 lines
3.3 KiB
C++
107 lines
3.3 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2012 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_SENSORSIFACE_HH_
|
||
|
|
#define _GAZEBO_SENSORSIFACE_HH_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
#include <sdf/sdf.hh>
|
||
|
|
#include "gazebo/common/CommonTypes.hh"
|
||
|
|
#include "gazebo/sensors/SensorTypes.hh"
|
||
|
|
#include "gazebo/util/system.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace sensors
|
||
|
|
{
|
||
|
|
/// \addtogroup gazebo_sensors
|
||
|
|
/// \{
|
||
|
|
|
||
|
|
/// \brief Load the sensor library.
|
||
|
|
/// \return True if successfully loaded, false if not.
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
bool load();
|
||
|
|
|
||
|
|
/// \brief Create a sensor using SDF.
|
||
|
|
/// \param[in] _elem The SDF element that describes the sensor.
|
||
|
|
/// \param[in] _worldName Name of the world in which to create the sensor.
|
||
|
|
/// \param[in] _parentName The fully scoped parent name (model::link).
|
||
|
|
/// \return The name of the new sensor.
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
std::string create_sensor(sdf::ElementPtr _elem,
|
||
|
|
const std::string &_worldName, const std::string &_parentName,
|
||
|
|
uint32_t _parentId);
|
||
|
|
|
||
|
|
/// \brief Remove a sensor by name
|
||
|
|
/// \param[in] _sensorName Name of sensor to remove
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
void remove_sensor(const std::string &_sensorName);
|
||
|
|
|
||
|
|
/// \brief Run the sensor generation one step.
|
||
|
|
/// \param _force: If true, all sensors are forced to update. Otherwise
|
||
|
|
/// a sensor will update based on it's Hz rate.
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
void run_once(bool _force = false);
|
||
|
|
|
||
|
|
/// \brief Run sensors in a threads. This is a non-blocking call.
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
void run_threads();
|
||
|
|
|
||
|
|
/// \brief Stop the sensor generation loop.
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
void stop();
|
||
|
|
|
||
|
|
/// \brief initialize the sensor generation loop.
|
||
|
|
/// \return True if successfully initialized, false if not
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
bool init();
|
||
|
|
|
||
|
|
/// \brief shutdown the sensor generation loop.
|
||
|
|
/// \return True if successfully finalized, false if not
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
bool fini();
|
||
|
|
|
||
|
|
/// \brief Remove all sensors.
|
||
|
|
/// \return True if all successfully removed, false if not
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
bool remove_sensors();
|
||
|
|
|
||
|
|
/// \brief Get a sensor using by name
|
||
|
|
///
|
||
|
|
/// The given name should have:
|
||
|
|
/// world_name::model_name::link_name::sensor_name
|
||
|
|
/// \param[in] _name Name of the sensor. This name should be fully scoped.
|
||
|
|
/// This means _name = world_name::model_name::link_name::sensor_name.
|
||
|
|
/// You may use the unscoped sensor name if that name is unique within
|
||
|
|
/// the entire simulation. If the name is not unique a NULL pointer is
|
||
|
|
/// returned.
|
||
|
|
/// \return Pointer to the sensor, NULL if the sensor could not be
|
||
|
|
/// found.
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
SensorPtr get_sensor(const std::string &_name);
|
||
|
|
|
||
|
|
/// \brief Disable sensors.
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
void disable();
|
||
|
|
|
||
|
|
/// \brief Enable sensors.
|
||
|
|
GAZEBO_VISIBLE
|
||
|
|
void enable();
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|