Files | Namespaces | Classes | Macros | Enumerations | Functions
Sensors

A set of sensor classes, functions, and definitions. More...

Files

file  SensorTypes.hh
 Forward declarations and typedefs for sensors.
 

Namespaces

 gazebo::sensors
 Sensors namespace.
 

Classes

class  gazebo::sensors::AltimeterSensor
 AltimeterSensor to provide vertical position and velocity. More...
 
class  gazebo::sensors::CameraSensor
 Basic camera sensor. More...
 
class  gazebo::sensors::ContactSensor
 Contact sensor. More...
 
class  gazebo::sensors::DepthCameraSensor
 
class  gazebo::sensors::ForceTorqueSensor
 Sensor for measure force and torque on a joint. More...
 
class  gazebo::sensors::GpsSensor
 GpsSensor to provide position measurement. More...
 
class  gazebo::sensors::GpuRaySensor
 GPU based laser sensor. More...
 
class  gazebo::sensors::ImuSensor
 An IMU sensor. More...
 
class  gazebo::sensors::LogicalCameraSensor
 A camera sensor that reports locations of objects instead of rendering a scene. More...
 
class  gazebo::sensors::MagnetometerSensor
 MagnetometerSensor to provide magnetic field measurement. More...
 
class  gazebo::sensors::MultiCameraSensor
 Multiple camera sensor. More...
 
class  gazebo::sensors::Noise
 Noise models for sensor output signals. More...
 
class  gazebo::sensors::NoiseFactory
 Use this noise manager for creating and loading noise models. More...
 
class  gazebo::sensors::RaySensor
 Sensor with one or more rays. More...
 
class  gazebo::sensors::RFIDSensor
 Sensor class for RFID type of sensor. More...
 
class  gazebo::sensors::RFIDTag
 RFIDTag to interact with RFIDTagSensors. More...
 
class  gazebo::sensors::Sensor
 Base class for sensors. More...
 
class  SensorFactor
 The sensor factory; the class is just for namespacing purposes. More...
 
class  gazebo::sensors::SensorFactory
 
class  gazebo::sensors::SensorManager
 Class to manage and update all sensors. More...
 
class  gazebo::sensors::SonarSensor
 Sensor with sonar cone. More...
 
class  gazebo::sensors::WideAngleCameraSensor
 Camera sensor with variable mapping function. More...
 
class  gazebo::sensors::WirelessReceiver
 Sensor class for receiving wireless signals. More...
 
class  gazebo::sensors::WirelessTransceiver
 Sensor class for receiving wireless signals. More...
 
class  gazebo::sensors::WirelessTransmitter
 Transmitter to send wireless signals. More...
 

Macros

#define GZ_REGISTER_STATIC_SENSOR(name, classname)
 Static sensor registration macro. More...
 

Enumerations

enum  gazebo::sensors::Noise::NoiseType { gazebo::sensors::Noise::NONE, gazebo::sensors::Noise::CUSTOM, gazebo::sensors::Noise::GAUSSIAN }
 Which noise types we support. More...
 
enum  gazebo::sensors::SensorCategory { gazebo::sensors::IMAGE = 0, gazebo::sensors::RAY = 1, gazebo::sensors::OTHER = 2, gazebo::sensors::CATEGORY_COUNT = 3 }
 SensorCategory is used to categorize sensors. More...
 
enum  gazebo::sensors::SensorNoiseType {
  gazebo::sensors::SENSOR_NOISE_TYPE_BEGIN = 0, gazebo::sensors::NO_NOISE = SENSOR_NOISE_TYPE_BEGIN, gazebo::sensors::CAMERA_NOISE = 1, gazebo::sensors::GPU_RAY_NOISE = 2,
  gazebo::sensors::GPS_POSITION_LATITUDE_NOISE_METERS = 3, gazebo::sensors::GPS_POSITION_LONGITUDE_NOISE_METERS = 4, gazebo::sensors::GPS_POSITION_ALTITUDE_NOISE_METERS = 5, gazebo::sensors::GPS_VELOCITY_LATITUDE_NOISE_METERS = 6,
  gazebo::sensors::GPS_VELOCITY_LONGITUDE_NOISE_METERS = 7, gazebo::sensors::GPS_VELOCITY_ALTITUDE_NOISE_METERS = 8, gazebo::sensors::RAY_NOISE = 9, gazebo::sensors::MAGNETOMETER_X_NOISE_TESLA = 10,
  gazebo::sensors::MAGNETOMETER_Y_NOISE_TESLA = 11, gazebo::sensors::MAGNETOMETER_Z_NOISE_TESLA = 12, gazebo::sensors::ALTIMETER_POSITION_NOISE_METERS = 13, gazebo::sensors::ALTIMETER_VELOCITY_NOISE_METERS_PER_S = 14,
  gazebo::sensors::IMU_ANGVEL_X_NOISE_RADIANS_PER_S = 15, gazebo::sensors::IMU_ANGVEL_Y_NOISE_RADIANS_PER_S = 16, gazebo::sensors::IMU_ANGVEL_Z_NOISE_RADIANS_PER_S = 17, gazebo::sensors::IMU_LINACC_X_NOISE_METERS_PER_S_SQR = 18,
  gazebo::sensors::IMU_LINACC_Y_NOISE_METERS_PER_S_SQR = 19, gazebo::sensors::IMU_LINACC_Z_NOISE_METERS_PER_S_SQR = 20, gazebo::sensors::SENSOR_NOISE_TYPE_END
}
 

Functions

GAZEBO_VISIBLE std::string gazebo::sensors::create_sensor (sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
 Create a sensor using SDF. More...
 
GAZEBO_VISIBLE void gazebo::sensors::disable ()
 Disable sensors. More...
 
GAZEBO_VISIBLE void gazebo::sensors::enable ()
 Enable sensors. More...
 
GAZEBO_VISIBLE bool gazebo::sensors::fini ()
 shutdown the sensor generation loop. More...
 
GAZEBO_VISIBLE SensorPtr gazebo::sensors::get_sensor (const std::string &_name)
 Get a sensor using by name. More...
 
GAZEBO_VISIBLE bool gazebo::sensors::init ()
 initialize the sensor generation loop. More...
 
GAZEBO_VISIBLE bool gazebo::sensors::load ()
 Load the sensor library. More...
 
GAZEBO_VISIBLE void gazebo::sensors::remove_sensor (const std::string &_sensorName)
 Remove a sensor by name. More...
 
GAZEBO_VISIBLE bool gazebo::sensors::remove_sensors ()
 Remove all sensors. More...
 
GAZEBO_VISIBLE void gazebo::sensors::run_once (bool _force=false)
 Run the sensor generation one step. More...
 
GAZEBO_VISIBLE void gazebo::sensors::run_threads ()
 Run sensors in a threads. This is a non-blocking call. More...
 
GAZEBO_VISIBLE void gazebo::sensors::stop ()
 Stop the sensor generation loop. More...
 

Detailed Description

A set of sensor classes, functions, and definitions.

Depth camera sensor This sensor is used for simulating standard monocular cameras

Macro Definition Documentation

#define GZ_REGISTER_STATIC_SENSOR (   name,
  classname 
)
Value:
GAZEBO_VISIBLE Sensor *New##classname() \
{ \
return new gazebo::sensors::classname(); \
} \
GAZEBO_VISIBLE \
void Register##classname() \
{\
SensorFactory::RegisterSensor(name, New##classname);\
}
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59

Static sensor registration macro.

Use this macro to register sensors with the server.

Parameters
nameSensor type name, as it appears in the world file.
classnameC++ class name for the sensor.

Enumeration Type Documentation

Which noise types we support.

Enumerator
NONE 
CUSTOM 
GAUSSIAN 

SensorCategory is used to categorize sensors.

This is used to put sensors into different threads.

Enumerator
IMAGE 

Image based sensor class.

This type requires the rendering engine.

RAY 

Ray based sensor class.

OTHER 

A type of sensor is not a RAY or IMAGE sensor.

CATEGORY_COUNT 

Number of Sensor Categories.

Enumerator
SENSOR_NOISE_TYPE_BEGIN 
NO_NOISE 

Noise streams for the Camera sensor.

See also
CameraSensor
CAMERA_NOISE 

Noise streams for the Camera sensor.

See also
CameraSensor
GPU_RAY_NOISE 

Noise streams for the GPU ray sensor.

See also
GpuRaySensor
GPS_POSITION_LATITUDE_NOISE_METERS 

GPS position latitude noise streams.

See also
GpsSensor
GPS_POSITION_LONGITUDE_NOISE_METERS 

GPS position longitude noise streams.

See also
GpsSensor
GPS_POSITION_ALTITUDE_NOISE_METERS 

GPS position altitude noise streams.

See also
GpsSensor
GPS_VELOCITY_LATITUDE_NOISE_METERS 

GPS velocity latitude noise streams.

See also
GpsSensor
GPS_VELOCITY_LONGITUDE_NOISE_METERS 

GPS velocity longitude noise streams.

See also
GpsSensor
GPS_VELOCITY_ALTITUDE_NOISE_METERS 

GPS velocity altitude noise streams.

See also
GpsSensor
RAY_NOISE 

Noise streams for the ray sensor.

See also
RaySensor
MAGNETOMETER_X_NOISE_TESLA 

Magnetometer body-frame X axis noise in Tesla.

See also
MagnetometerSensor
MAGNETOMETER_Y_NOISE_TESLA 

Magnetometer body-frame Y axis noise in Tesla.

See also
MagnetometerSensor
MAGNETOMETER_Z_NOISE_TESLA 

Magnetometer body-frame Z axis noise in Tesla.

See also
MagnetometerSensor
ALTIMETER_POSITION_NOISE_METERS 

Vertical noise stream for the altimeter sensor.

See also
AltimeterSensor
ALTIMETER_VELOCITY_NOISE_METERS_PER_S 

Velocity noise streams for the altimeter sensor.

See also
AltimeterSensor
IMU_ANGVEL_X_NOISE_RADIANS_PER_S 

IMU angular velocity X noise stream.

See also
ImuSensor
IMU_ANGVEL_Y_NOISE_RADIANS_PER_S 

IMU angular velocity Y noise stream.

See also
ImuSensor
IMU_ANGVEL_Z_NOISE_RADIANS_PER_S 

IMU angular velocity Z noise stream.

See also
ImuSensor
IMU_LINACC_X_NOISE_METERS_PER_S_SQR 

IMU linear acceleration X noise stream.

See also
ImuSensor
IMU_LINACC_Y_NOISE_METERS_PER_S_SQR 

IMU linear acceleration Y noise stream.

See also
ImuSensor
IMU_LINACC_Z_NOISE_METERS_PER_S_SQR 

IMU linear acceleration Z noise stream.

See also
ImuSensor
SENSOR_NOISE_TYPE_END 

Function Documentation

GAZEBO_VISIBLE std::string gazebo::sensors::create_sensor ( sdf::ElementPtr  _elem,
const std::string &  _worldName,
const std::string &  _parentName,
uint32_t  _parentId 
)

Create a sensor using SDF.

Parameters
[in]_elemThe SDF element that describes the sensor.
[in]_worldNameName of the world in which to create the sensor.
[in]_parentNameThe fully scoped parent name (model::link).
Returns
The name of the new sensor.
GAZEBO_VISIBLE void gazebo::sensors::disable ( )

Disable sensors.

GAZEBO_VISIBLE void gazebo::sensors::enable ( )

Enable sensors.

GAZEBO_VISIBLE bool gazebo::sensors::fini ( )

shutdown the sensor generation loop.

Returns
True if successfully finalized, false if not
GAZEBO_VISIBLE SensorPtr gazebo::sensors::get_sensor ( const std::string &  _name)

Get a sensor using by name.

The given name should have: world_name::model_name::link_name::sensor_name

Parameters
[in]_nameName of the sensor. This name should be fully scoped. This means _name = world_name::model_name::link_name::sensor_name. You may use the unscoped sensor name if that name is unique within the entire simulation. If the name is not unique a NULL pointer is returned.
Returns
Pointer to the sensor, NULL if the sensor could not be found.
GAZEBO_VISIBLE bool gazebo::sensors::init ( )

initialize the sensor generation loop.

Returns
True if successfully initialized, false if not
GAZEBO_VISIBLE bool gazebo::sensors::load ( )

Load the sensor library.

Returns
True if successfully loaded, false if not.
GAZEBO_VISIBLE void gazebo::sensors::remove_sensor ( const std::string &  _sensorName)

Remove a sensor by name.

Parameters
[in]_sensorNameName of sensor to remove
GAZEBO_VISIBLE bool gazebo::sensors::remove_sensors ( )

Remove all sensors.

Returns
True if all successfully removed, false if not
GAZEBO_VISIBLE void gazebo::sensors::run_once ( bool  _force = false)

Run the sensor generation one step.

Parameters
_forceIf true, all sensors are forced to update. Otherwise a sensor will update based on it's Hz rate.
GAZEBO_VISIBLE void gazebo::sensors::run_threads ( )

Run sensors in a threads. This is a non-blocking call.

GAZEBO_VISIBLE void gazebo::sensors::stop ( )

Stop the sensor generation loop.