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