94 lines
3.1 KiB
C++
94 lines
3.1 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_WIRELESSTRANSMITTER_HH_
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#define _GAZEBO_SENSORS_WIRELESSTRANSMITTER_HH_
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#include <memory>
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#include <string>
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#include "gazebo/physics/physics.hh"
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#include "gazebo/sensors/WirelessTransceiver.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 WirelessTransmitterPrivate;
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/// \addtogroup gazebo_sensors
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/// \{
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/// \class WirelessTransmitter WirelessTransmitter.hh sensors/sensors.hh
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/// \brief Transmitter to send wireless signals
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class GAZEBO_VISIBLE WirelessTransmitter: public WirelessTransceiver
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{
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/// \brief Constructor.
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public: WirelessTransmitter();
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/// \brief Destructor.
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public: virtual ~WirelessTransmitter();
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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 Load(const std::string &_worldName);
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// Documentation inherited
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public: virtual void Init();
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/// \brief Returns the Service Set Identifier (network name).
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/// \return Service Set Identifier (network name).
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/// \deprecated See ESSID()
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public: std::string GetESSID() const GAZEBO_DEPRECATED(7.0);
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/// \brief Returns the Service Set Identifier (network name).
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/// \return Service Set Identifier (network name).
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public: std::string ESSID() const;
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/// \brief Returns reception frequency (MHz).
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/// \return Reception frequency (MHz).
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/// \deprecated See Freq()
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public: double GetFreq() const GAZEBO_DEPRECATED(7.0);
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/// \brief Returns reception frequency (MHz).
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/// \return Reception frequency (MHz).
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public: double Freq() const;
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/// \brief Returns the signal strength in a given world's point (dBm).
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/// \param[in] _receiver Pose of the receiver
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/// \param[in] _rxGain Receiver gain value
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/// \return Signal strength in a world's point (dBm).
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public: double SignalStrength(const ignition::math::Pose3d &_receiver,
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const double _rxGain);
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/// \brief Get the std dev of the Gaussian random variable used in the
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/// propagation model.
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/// \return The standard deviation of the propagation model.
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public: double ModelStdDev() const;
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<WirelessTransmitterPrivate> 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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