108 lines
3.2 KiB
C++
108 lines
3.2 KiB
C++
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/*
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* Copyright (C) 2012 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_GPSSENSOR_HH_
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#define _GAZEBO_SENSORS_GPSSENSOR_HH_
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#include <memory>
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#include <string>
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#include <ignition/math/Angle.hh>
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#include <sdf/sdf.hh>
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/sensors/Sensor.hh"
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#include "gazebo/sensors/SensorTypes.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 GpsSensorPrivate;
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/// \addtogroup gazebo_sensors
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/// \{
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/// \class GpsSensor GpsSensor.hh sensors/sensors.hh
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/// \brief GpsSensor to provide position measurement.
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class GAZEBO_VISIBLE GpsSensor: public Sensor
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{
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/// \brief Constructor.
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public: GpsSensor();
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/// \brief Destructor.
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public: virtual ~GpsSensor();
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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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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 longitude angle
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/// \return Current longitude angle.
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public: ignition::math::Angle Longitude() const;
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/// \brief Accessor for current latitude angle
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/// \return Current latitude angle.
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public: ignition::math::Angle Latitude() const;
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/// \brief Accessor for current altitude
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/// \return Current altitude above sea level.
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/// \deprecated See Altitude()
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public: double GetAltitude() const GAZEBO_DEPRECATED(7.0);
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/// \brief Accessor for current altitude
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/// \return Current altitude above sea level.
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public: double Altitude() const;
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/// \brief Accessor for curent velocity in East-North-Up frame
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/// \return Current velocity
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public: ignition::math::Vector3d VelocityENU() const;
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/// \brief Accessor for current velocity in East direction
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/// \return Current velocity towards East
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public: double VelocityEast() const;
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/// \brief Accessor for current velocity in North direction
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/// \return Current velocity towards North
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public: double VelocityNorth() const;
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/// \brief Accessor for current velocity in Up direction
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/// \return Current velocity towards Up
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public: double VelocityUp() const;
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<GpsSensorPrivate> 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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