mvsim::SensorBase Class Reference

#include <SensorBase.h>

Inheritance diagram for mvsim::SensorBase:

Public Types
using	Ptr = std::shared_ptr< SensorBase >
Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Public Member Functions
virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root)=0
void	registerOnServer (mvsim::Client &c) override
	(in seconds) (Default = 0.1) More...
	SensorBase (VehicleBase &vehicle)
virtual	~SensorBase ()
	which the sensor is attached. More...
Public Member Functions inherited from mvsim::VisualObject
void	getVisualModelBoundingBox (mrpt::math::TPoint3D &bbmin, mrpt::math::TPoint3D &bbmax) const
World *	getWorldObject ()
const World *	getWorldObject () const
virtual void	guiUpdate (mrpt::opengl::COpenGLScene &scene)
void	showBoundingBox (bool show)
	VisualObject (World *parent)
virtual	~VisualObject ()
Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))
const b2Body *	b2d_body () const
b2Body *	b2d_body ()
mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...
const std::string &	getName () const
mrpt::math::TPose3D	getPose () const
mrpt::math::TTwist2D	getTwist () const
const mrpt::math::TTwist2D &	getVelocity () const
mrpt::math::TTwist2D	getVelocityLocal () const
bool	hadCollision () const
bool	isInCollision () const
virtual void	poses_mutex_lock ()=0
virtual void	poses_mutex_unlock ()=0
void	resetCollisionFlag ()
void	setName (const std::string &s)
void	setPose (const mrpt::math::TPose3D &p) const
void	setTwist (const mrpt::math::TTwist2D &dq) const
virtual void	simul_post_timestep (const TSimulContext &context)
virtual void	simul_pre_timestep (const TSimulContext &context)

Static Public Member Functions
static SensorBase::Ptr	factory (VehicleBase &parent, const rapidxml::xml_node< char > *xml_node)

Public Attributes
double	m_sensor_period

Protected Member Functions
bool	parseSensorPublish (const rapidxml::xml_node< char > *node, const std::map< std::string, std::string > &varValues)
void	reportNewObservation (const std::shared_ptr< mrpt::obs::CObservation > &obs, const TSimulContext &context)
Protected Member Functions inherited from mvsim::VisualObject
virtual mrpt::poses::CPose3D	internalGuiGetVisualPose ()
virtual void	internalGuiUpdate (mrpt::opengl::COpenGLScene &scene, bool childrenOnly=false)=0
bool	parseVisual (const rapidxml::xml_node< char > *visual_node)

Protected Attributes
double	m_sensor_last_timestamp
VehicleBase &	m_vehicle
	The vehicle this sensor is attached to. More...
std::string	publishTopic_
Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glBoundingBox
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glCustomVisual
int32_t	m_glCustomVisualId = -1
World *	m_world
Protected Attributes inherited from mvsim::Simulable
std::string	m_name

Detailed Description

Definition at line 21 of file SensorBase.h.

Member Typedef Documentation

using mvsim::SensorBase::Ptr = std::shared_ptr<SensorBase>

Definition at line 24 of file SensorBase.h.

Constructor & Destructor Documentation

SensorBase::SensorBase

(

VehicleBase &

vehicle

)

Ctor takes a ref to the vehicle to

Definition at line 44 of file SensorBase.cpp.

SensorBase::~SensorBase ( )

virtualdefault

which the sensor is attached.

Member Function Documentation

SensorBase::Ptr SensorBase::factory ( VehicleBase &  parent, const rapidxml::xml_node< char > *  xml_node  )

static

Class factory: Creates a sensor from XML description of type "<sensor class='CLASS_NAME'>...</sensor>".

Definition at line 54 of file SensorBase.cpp.

virtual void mvsim::SensorBase::loadConfigFrom ( const rapidxml::xml_node< char > *  root )

pure virtual

Implemented in mvsim::LaserScanner.

bool SensorBase::parseSensorPublish ( const rapidxml::xml_node< char > *  node, const std::map< std::string, std::string > &  varValues  )

protected

Definition at line 88 of file SensorBase.cpp.

void SensorBase::registerOnServer ( mvsim::Client &  c )

overridevirtual

(in seconds) (Default = 0.1)

Reimplemented from mvsim::Simulable.

Definition at line 132 of file SensorBase.cpp.

void SensorBase::reportNewObservation ( const std::shared_ptr< mrpt::obs::CObservation > &  obs, const TSimulContext &  context  )

protected

Definition at line 106 of file SensorBase.cpp.

Member Data Documentation

double mvsim::SensorBase::m_sensor_last_timestamp

protected

The last sensor reading timestamp. See m_sensor_period

Definition at line 46 of file SensorBase.h.

double mvsim::SensorBase::m_sensor_period

Generate one sensor reading every this period

Definition at line 37 of file SensorBase.h.

VehicleBase& mvsim::SensorBase::m_vehicle

protected

The vehicle this sensor is attached to.

Definition at line 43 of file SensorBase.h.

std::string mvsim::SensorBase::publishTopic_

protected

Definition at line 48 of file SensorBase.h.

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The documentation for this class was generated from the following files:

• SensorBase.h
• SensorBase.cpp