94 lines
2.7 KiB
C++
94 lines
2.7 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_SENSORS_ALTIMETERSENSOR_HH_
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#define _GAZEBO_SENSORS_ALTIMETERSENSOR_HH_
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#include <string>
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#include <sdf/sdf.hh>
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#include "gazebo/sensors/Sensor.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/sensors/SensorTypes.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace sensors
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{
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// Forward declare private data class
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class AltimeterSensorPrivate;
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/// \addtogroup gazebo_sensors
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/// \{
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/// \brief AltimeterSensor to provide vertical position and velocity
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class GAZEBO_VISIBLE AltimeterSensor: public Sensor
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{
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/// \brief Constructor.
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public: AltimeterSensor();
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/// \brief Destructor.
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public: virtual ~AltimeterSensor();
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// Documentation inherited
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public: virtual void Load(const std::string &_worldName,
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sdf::ElementPtr _sdf);
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// Documentation inherited
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public: virtual void Load(const std::string &_worldName);
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// Documentation inherited
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public: virtual void Init();
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// Documentation inherited
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public: virtual std::string GetTopic() const;
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// Documentation inherited
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protected: virtual bool UpdateImpl(const bool _force);
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// Documentation inherited
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public: virtual void Fini();
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/// \brief Accessor for current vertical position
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/// \return Current vertical position
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public: double Altitude() const;
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/// \brief Accessor for current vertical velocity
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/// \return Current vertical velocity
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public: double VerticalVelocity() const;
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/// \brief Accessor for the reference altitude
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/// \return Current reference altitude
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public: double ReferenceAltitude() const;
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/// \brief Accessor for current vertical velocity
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/// \param[in] _refAlt reference altitude
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public: void SetReferenceAltitude(const double _refAlt);
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<AltimeterSensorPrivate> dataPtr;
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};
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/// \}
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}
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}
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#endif
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