94 lines
2.8 KiB
C++
94 lines
2.8 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_SENSORS_WIRELESSTRANSCEIVER_HH_
|
||
|
|
#define _GAZEBO_SENSORS_WIRELESSTRANSCEIVER_HH_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
#include <ignition/math/Pose3.hh>
|
||
|
|
|
||
|
|
#include "gazebo/transport/TransportTypes.hh"
|
||
|
|
#include "gazebo/physics/PhysicsTypes.hh"
|
||
|
|
#include "gazebo/sensors/Sensor.hh"
|
||
|
|
#include "gazebo/util/system.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace sensors
|
||
|
|
{
|
||
|
|
/// \addtogroup gazebo_sensors
|
||
|
|
/// \{
|
||
|
|
|
||
|
|
/// \class WirelessTransceiver WirelessTransceiver.hh sensors/sensors.hh
|
||
|
|
/// \brief Sensor class for receiving wireless signals.
|
||
|
|
class GAZEBO_VISIBLE WirelessTransceiver: public Sensor
|
||
|
|
{
|
||
|
|
/// \brief Constructor
|
||
|
|
public: WirelessTransceiver();
|
||
|
|
|
||
|
|
/// \brief Constructor
|
||
|
|
public: ~WirelessTransceiver();
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual std::string Topic() const;
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual void Load(const std::string &_worldName);
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual void Init();
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual void Fini();
|
||
|
|
|
||
|
|
/// \brief Returns the antenna's gain of the receiver (dBi).
|
||
|
|
/// \return Antenna's gain of the receiver (dBi).
|
||
|
|
/// \deprecated See Gain()
|
||
|
|
public: double GetGain() const GAZEBO_DEPRECATED(7.0);
|
||
|
|
|
||
|
|
/// \brief Returns the antenna's gain of the receiver (dBi).
|
||
|
|
/// \return Antenna's gain of the receiver (dBi).
|
||
|
|
public: double Gain() const;
|
||
|
|
|
||
|
|
/// \brief Returns the receiver power (dBm).
|
||
|
|
/// \return Receiver power (dBm).
|
||
|
|
/// \deprecated See Power()
|
||
|
|
public: double GetPower() const GAZEBO_DEPRECATED(7.0);
|
||
|
|
|
||
|
|
/// \brief Returns the receiver power (dBm).
|
||
|
|
/// \return Receiver power (dBm).
|
||
|
|
public: double Power() const;
|
||
|
|
|
||
|
|
/// \brief Publisher to publish propagation model data
|
||
|
|
protected: transport::PublisherPtr pub;
|
||
|
|
|
||
|
|
/// \brief Receiver's power (dBm).
|
||
|
|
protected: double power = 14.5;
|
||
|
|
|
||
|
|
/// \brief Antenna's gain of the receiver (dBi).
|
||
|
|
protected: double gain = 2.5;
|
||
|
|
|
||
|
|
/// \brief Parent entity which the sensor is attached to
|
||
|
|
protected: boost::weak_ptr<physics::Link> parentEntity;
|
||
|
|
|
||
|
|
/// \brief Sensor reference pose
|
||
|
|
protected: ignition::math::Pose3d referencePose;
|
||
|
|
};
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|