A Ray Sensor Plugin which makes it act as a proximity sensor. More...

#include <ProximityRayPlugin.hh>

Inheritance diagram for gazebo::ProximityRayPlugin:

Public Member Functions
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin. More...

virtual void	OnNewLaserScans ()
	Update callback. More...

virtual bool	ProcessScan ()
	Process the scan data and update state. More...

	ProximityRayPlugin ()
	Constructor. More...

virtual	~ProximityRayPlugin ()
	Destructor. More...

Protected Member Functions
std::string	Topic (std::string topicName) const
	Generate a scoped topic name from a local one. More...

Protected Attributes
physics::LinkPtr	link
	Pointer to parent link. More...

std::mutex	mutex
	Mutex to protect interruptionMsg. More...

event::ConnectionPtr	newLaserScansConnection
	The connection tied to ProximityRayPlugin::OnNewLaserScans() More...

transport::NodePtr	node
	Pointer to this node for publishing. More...

bool	normallyOpen
	Whether or not the output function is normally open (default) or normally closed. More...

bool	objectDetected
	Sensor detection state. More...

sensors::RaySensorPtr	parentSensor
	The parent sensor. More...

double	sensingRangeMax
	Maximum sensing range in meters. More...

double	sensingRangeMin
	Minimum sensing range in meters. More...

transport::PublisherPtr	stateChangePub
	Publisher for the sensor state change. More...

std::string	stateChangeTopic
	Topic name for state change message. More...

msgs::Header	stateMsg
	State message. More...

transport::PublisherPtr	statePub
	Publisher for the sensor state. More...

std::string	stateTopic
	Topic name for state message. More...

bool	useLinkFrame
	Convert sensor ranges to parent link frame? More...

physics::WorldPtr	world
	Pointer to world. More...

Detailed Description

A Ray Sensor Plugin which makes it act as a proximity sensor.

Definition at line 34 of file ProximityRayPlugin.hh.

Constructor & Destructor Documentation

ProximityRayPlugin::ProximityRayPlugin ( )

Constructor.

Definition at line 32 of file ProximityRayPlugin.cc.

ProximityRayPlugin::~ProximityRayPlugin ( )

virtual

Destructor.

Definition at line 37 of file ProximityRayPlugin.cc.

Member Function Documentation

void ProximityRayPlugin::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Load the plugin.

Parameters

take	in SDF root element

Definition at line 56 of file ProximityRayPlugin.cc.

void ProximityRayPlugin::OnNewLaserScans ( )

virtual

Update callback.

Reimplemented in gazebo::ROSProximityRayPlugin.

Definition at line 141 of file ProximityRayPlugin.cc.

bool ProximityRayPlugin::ProcessScan ( )

virtual

Process the scan data and update state.

Returns: true if the state has changed since processing the last scan

Definition at line 165 of file ProximityRayPlugin.cc.

std::string ProximityRayPlugin::Topic ( std::string topicName ) const

protected

Generate a scoped topic name from a local one.

Parameters

local local topic name

Definition at line 46 of file ProximityRayPlugin.cc.

Member Data Documentation

physics::LinkPtr gazebo::ProximityRayPlugin::link

protected

Pointer to parent link.

Definition at line 91 of file ProximityRayPlugin.hh.

std::mutex gazebo::ProximityRayPlugin::mutex

protected

Mutex to protect interruptionMsg.

Definition at line 67 of file ProximityRayPlugin.hh.

event::ConnectionPtr gazebo::ProximityRayPlugin::newLaserScansConnection

protected

The connection tied to ProximityRayPlugin::OnNewLaserScans()

Definition at line 103 of file ProximityRayPlugin.hh.

transport::NodePtr gazebo::ProximityRayPlugin::node

protected

Pointer to this node for publishing.

Definition at line 97 of file ProximityRayPlugin.hh.

bool gazebo::ProximityRayPlugin::normallyOpen

protected

Whether or not the output function is normally open (default) or normally closed.

Definition at line 88 of file ProximityRayPlugin.hh.

bool gazebo::ProximityRayPlugin::objectDetected

protected

Sensor detection state.

Definition at line 76 of file ProximityRayPlugin.hh.

sensors::RaySensorPtr gazebo::ProximityRayPlugin::parentSensor

protected

The parent sensor.

Definition at line 100 of file ProximityRayPlugin.hh.

double gazebo::ProximityRayPlugin::sensingRangeMax

protected

Maximum sensing range in meters.

Definition at line 85 of file ProximityRayPlugin.hh.

double gazebo::ProximityRayPlugin::sensingRangeMin

protected

Minimum sensing range in meters.

Definition at line 82 of file ProximityRayPlugin.hh.

transport::PublisherPtr gazebo::ProximityRayPlugin::stateChangePub

protected

Publisher for the sensor state change.

Definition at line 61 of file ProximityRayPlugin.hh.

std::string gazebo::ProximityRayPlugin::stateChangeTopic

protected

Topic name for state change message.

Definition at line 73 of file ProximityRayPlugin.hh.

msgs::Header gazebo::ProximityRayPlugin::stateMsg

protected

State message.

Definition at line 64 of file ProximityRayPlugin.hh.

transport::PublisherPtr gazebo::ProximityRayPlugin::statePub

protected

Publisher for the sensor state.

Definition at line 58 of file ProximityRayPlugin.hh.

std::string gazebo::ProximityRayPlugin::stateTopic

protected

Topic name for state message.

Definition at line 70 of file ProximityRayPlugin.hh.

bool gazebo::ProximityRayPlugin::useLinkFrame

protected

Convert sensor ranges to parent link frame?

Definition at line 79 of file ProximityRayPlugin.hh.

physics::WorldPtr gazebo::ProximityRayPlugin::world

protected

Pointer to world.

Definition at line 94 of file ProximityRayPlugin.hh.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation