107 lines
3.3 KiB
C++
107 lines
3.3 KiB
C++
/*
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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_SENSORSIFACE_HH_
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#define _GAZEBO_SENSORSIFACE_HH_
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#include <string>
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#include <sdf/sdf.hh>
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#include "gazebo/common/CommonTypes.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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/// \addtogroup gazebo_sensors
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/// \{
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/// \brief Load the sensor library.
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/// \return True if successfully loaded, false if not.
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GAZEBO_VISIBLE
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bool load();
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/// \brief Create a sensor using SDF.
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/// \param[in] _elem The SDF element that describes the sensor.
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/// \param[in] _worldName Name of the world in which to create the sensor.
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/// \param[in] _parentName The fully scoped parent name (model::link).
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/// \return The name of the new sensor.
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GAZEBO_VISIBLE
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std::string create_sensor(sdf::ElementPtr _elem,
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const std::string &_worldName, const std::string &_parentName,
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uint32_t _parentId);
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/// \brief Remove a sensor by name
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/// \param[in] _sensorName Name of sensor to remove
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GAZEBO_VISIBLE
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void remove_sensor(const std::string &_sensorName);
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/// \brief Run the sensor generation one step.
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/// \param _force: If true, all sensors are forced to update. Otherwise
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/// a sensor will update based on it's Hz rate.
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GAZEBO_VISIBLE
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void run_once(bool _force = false);
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/// \brief Run sensors in a threads. This is a non-blocking call.
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GAZEBO_VISIBLE
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void run_threads();
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/// \brief Stop the sensor generation loop.
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GAZEBO_VISIBLE
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void stop();
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/// \brief initialize the sensor generation loop.
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/// \return True if successfully initialized, false if not
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GAZEBO_VISIBLE
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bool init();
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/// \brief shutdown the sensor generation loop.
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/// \return True if successfully finalized, false if not
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GAZEBO_VISIBLE
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bool fini();
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/// \brief Remove all sensors.
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/// \return True if all successfully removed, false if not
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GAZEBO_VISIBLE
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bool remove_sensors();
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/// \brief Get a sensor using by name
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///
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/// The given name should have:
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/// world_name::model_name::link_name::sensor_name
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/// \param[in] _name Name of the sensor. This name should be fully scoped.
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/// This means _name = world_name::model_name::link_name::sensor_name.
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/// You may use the unscoped sensor name if that name is unique within
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/// the entire simulation. If the name is not unique a NULL pointer is
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/// returned.
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/// \return Pointer to the sensor, NULL if the sensor could not be
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/// found.
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GAZEBO_VISIBLE
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SensorPtr get_sensor(const std::string &_name);
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/// \brief Disable sensors.
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GAZEBO_VISIBLE
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void disable();
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/// \brief Enable sensors.
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GAZEBO_VISIBLE
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void enable();
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/// \}
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}
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}
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#endif
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