333 lines
12 KiB
C++
333 lines
12 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_SENSOR_HH_
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#define _GAZEBO_SENSORS_SENSOR_HH_
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#include <vector>
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#include <memory>
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#include <map>
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#include <string>
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#include <sdf/sdf.hh>
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#include <ignition/math/Pose3.hh>
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/sensors/SensorTypes.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/common/Events.hh"
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#include "gazebo/common/Time.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
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class SensorPrivate;
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/// \addtogroup gazebo_sensors
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/// \{
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/// \class Sensor Sensor.hh sensors/sensors.hh
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/// \brief Base class for sensors
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class GAZEBO_VISIBLE Sensor : public std::enable_shared_from_this<Sensor>
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{
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/// \brief Constructor.
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/// \param[in] _cat Category of the sensor
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public: explicit Sensor(SensorCategory _cat);
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/// \brief Destructor.
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public: virtual ~Sensor();
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/// \brief Load the sensor with SDF parameters.
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/// \param[in] _sdf SDF Sensor parameters.
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/// \param[in] _worldName Name of world to load from.
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public: virtual void Load(const std::string &_worldName,
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sdf::ElementPtr _sdf);
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/// \brief Load the sensor with default parameters.
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/// \param[in] _worldName Name of world to load from.
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public: virtual void Load(const std::string &_worldName);
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/// \brief Initialize the sensor.
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public: virtual void Init();
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/// \brief Set the sensor's parent.
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/// \param[in] _name The sensor's parent's name.
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/// \param[in] _id The sensor's parent's ID.
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public: void SetParent(const std::string &_name, const uint32_t _id);
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/// \brief Returns the name of the sensor parent. The parent name is
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/// set by Sensor::SetParent.
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/// \return Name of Parent.
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/// \deprecated See ParentName() function.
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public: std::string GetParentName() const
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GAZEBO_DEPRECATED(7.0);
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/// \brief Returns the name of the sensor parent. The parent name is
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/// set by Sensor::SetParent.
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/// \return Name of Parent.
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public: std::string ParentName() const;
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/// \brief Update the sensor.
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/// \param[in] _force True to force update, false otherwise.
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public: void Update(const bool _force);
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/// \brief Get the update rate of the sensor.
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/// \return _hz update rate of sensor. Returns 0 if unthrottled.
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/// \deprecated See UpdateRate() function
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public: double GetUpdateRate() GAZEBO_DEPRECATED(7.0);
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/// \brief Get the update rate of the sensor.
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/// \return _hz update rate of sensor. Returns 0 if unthrottled.
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public: double UpdateRate() const;
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/// \brief Set the update rate of the sensor.
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/// \param[in] _hz update rate of sensor.
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public: void SetUpdateRate(const double _hz);
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/// \brief Finalize the sensor.
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public: virtual void Fini();
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/// \brief Get name.
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/// \return Name of sensor.
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/// \deprecated See Name() function.
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public: std::string GetName() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get name.
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/// \return Name of sensor.
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public: std::string Name() const;
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/// \brief Get fully scoped name of the sensor.
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/// \return world_name::model_name::link_name::sensor_name.
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/// \deprecated See ScopedName() function
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public: std::string GetScopedName() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get fully scoped name of the sensor.
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/// \return world_name::model_name::link_name::sensor_name.
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public: std::string ScopedName() const;
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/// \brief Get the current pose.
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/// \return Current pose of the sensor.
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/// \sa SetPose()
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public: virtual ignition::math::Pose3d Pose() const;
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/// \brief Set the current pose.
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/// \param[in] _pose New pose of the sensor.
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/// \sa Pose()
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public: virtual void SetPose(const ignition::math::Pose3d &_pose);
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/// \brief Set whether the sensor is active or not.
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/// \param[in] _value True if active, false if not.
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public: virtual void SetActive(const bool _value);
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/// \brief Returns true if sensor generation is active.
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/// \return True if active, false if not.
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public: virtual bool IsActive() const;
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/// \brief Get sensor type.
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/// \return Type of sensor.
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/// \deprecated See Type() function.
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public: std::string GetType() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get sensor type.
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/// \return Type of sensor.
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public: std::string Type() const;
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/// \brief Return last update time.
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/// \return Time of last update.
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/// \deprecated See LastUpdateTime() function
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public: common::Time GetLastUpdateTime() GAZEBO_DEPRECATED(7.0);
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/// \brief Return last update time.
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/// \return Time of last update.
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public: common::Time LastUpdateTime() const;
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/// \brief Return last measurement time.
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/// \return Time of last measurement.
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/// \deprecated See LastMeasurementTime() function.
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public: common::Time GetLastMeasurementTime() GAZEBO_DEPRECATED(7.0);
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/// \brief Return last measurement time.
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/// \return Time of last measurement.
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/// \deprecated See LastMeasurementTime() function.
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public: common::Time LastMeasurementTime() const;
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/// \brief Return true if user requests the sensor to be visualized
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/// via tag: <visualize>true</visualize> in SDF.
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/// \return True if visualized, false if not.
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/// \deprecated See Visualize() function
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public: bool GetVisualize() const GAZEBO_DEPRECATED(7.0);
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/// \brief Return true if user requests the sensor to be visualized
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/// via tag: <visualize>true</visualize> in SDF.
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/// \return True if visualized, false if not.
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public: bool Visualize() const;
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/// \brief Returns the topic name as set in SDF.
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/// \return Topic name.
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/// \deprecated See Topic() function.
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public: virtual std::string GetTopic() const GAZEBO_DEPRECATED(7.0);
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/// \brief Returns the topic name as set in SDF.
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/// \return Topic name.
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public: virtual std::string Topic() const;
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/// \brief fills a msgs::Sensor message.
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/// \param[out] _msg Message to fill.
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public: void FillMsg(msgs::Sensor &_msg);
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/// \brief Returns the name of the world the sensor is in.
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/// \return Name of the world.
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/// \deprecated See WorldName() function.
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public: std::string GetWorldName() const GAZEBO_DEPRECATED(7.0);
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/// \brief Returns the name of the world the sensor is in.
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/// \return Name of the world.
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public: std::string WorldName() const;
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/// \brief Connect a signal that is triggered when the sensor is
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/// updated.
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/// \param[in] _subscriber Callback that receives the signal.
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/// \return A pointer to the connection. This must be kept in scope.
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/// \sa Sensor::DisconnectUpdated
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public: event::ConnectionPtr ConnectUpdated(
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std::function<void()> _subscriber);
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/// \brief Disconnect from a the updated signal.
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/// \param[in] _c The connection to disconnect
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/// \sa Sensor::ConnectUpdated
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public: void DisconnectUpdated(event::ConnectionPtr &_c);
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/// \brief Get the category of the sensor.
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/// \return The category of the sensor.
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/// \sa SensorCategory
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/// \deprecated See Category() function.
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public: SensorCategory GetCategory() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the category of the sensor.
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/// \return The category of the sensor.
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/// \sa SensorCategory
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public: SensorCategory Category() const;
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/// \brief Reset the lastUpdateTime to zero.
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public: void ResetLastUpdateTime();
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/// \brief Get the sensor's ID.
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/// \return The sensor's ID.
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/// \deprecated See Id() function
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public: uint32_t GetId() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the sensor's ID.
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/// \return The sensor's ID.
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public: uint32_t Id() const;
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/// \brief Get the sensor's parent's ID.
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/// \return The sensor's parent's ID.
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/// \deprecated See ParentId() function
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public: uint32_t GetParentId() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the sensor's parent's ID.
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/// \return The sensor's parent's ID.
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public: uint32_t ParentId() const;
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/// \brief Get the sensor's noise model for a specified noise type.
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/// \param[in] _type Index of the noise type. Refer to
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/// SensorNoiseType enumeration for possible indices
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/// \return The sensor's noise model for the given noise type
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/// \deprecated See Noise(const SensorNoiseType _type) function
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public: NoisePtr GetNoise(const SensorNoiseType _type) const
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get the sensor's noise model for a specified noise type.
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/// \param[in] _type Index of the noise type. Refer to
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/// SensorNoiseType enumeration for possible indices
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/// \return The sensor's noise model for the given noise type
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public: NoisePtr Noise(const SensorNoiseType _type) const;
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/// \brief This gets overwritten by derived sensor types.
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/// This function is called during Sensor::Update.
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/// And in turn, Sensor::Update is called by
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/// SensorManager::Update
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/// \param[in] _force True if update is forced, false if not
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/// \return True if the sensor was updated.
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protected: virtual bool UpdateImpl(const bool /*_force*/) {return false;}
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/// \brief Return true if the sensor needs to be updated.
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/// \return True when sensor should be updated.
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protected: bool NeedsUpdate();
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/// \brief Load a plugin for this sensor.
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/// \param[in] _sdf SDF parameters.
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private: void LoadPlugin(sdf::ElementPtr _sdf);
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/// \brief True if sensor generation is active.
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protected: bool active;
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/// \brief Pointer the the SDF element for the sensor.
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protected: sdf::ElementPtr sdf;
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/// \brief Pose of the sensor.
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protected: ignition::math::Pose3d pose;
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/// \brief All event connections.
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protected: std::vector<event::ConnectionPtr> connections;
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/// \brief Node for communication.
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protected: transport::NodePtr node;
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/// \brief Name of the parent.
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protected: std::string parentName;
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/// \brief The sensor's parent ID.
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protected: uint32_t parentId;
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/// \brief All the plugins for the sensor.
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protected: std::vector<SensorPluginPtr> plugins;
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/// \brief Pointer to the world.
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protected: gazebo::physics::WorldPtr world;
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/// \brief Pointer to the Scene
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protected: gazebo::rendering::ScenePtr scene;
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/// \brief Desired time between updates, set indirectly by
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/// Sensor::SetUpdateRate.
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protected: common::Time updatePeriod;
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/// \brief Time of the last update.
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protected: common::Time lastUpdateTime;
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/// \brief Stores last time that a sensor measurement was generated;
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/// this value must be updated within each sensor's UpdateImpl
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protected: common::Time lastMeasurementTime;
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/// \brief Noise added to sensor data
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protected: std::map<SensorNoiseType, NoisePtr> noises;
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/// \internal
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/// \brief Data pointer for private data
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private: std::unique_ptr<SensorPrivate> 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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