gazebo::ProximityRayPlugin Class Reference

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

#include <ProximityRayPlugin.hh>

Inheritance diagram for gazebo::ProximityRayPlugin:

List of all members.

Public Member Functions
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin.
virtual void	OnNewLaserScans ()
	Update callback.
virtual bool	ProcessScan ()
	Process the scan data and update state.
	ProximityRayPlugin ()
	Constructor.
virtual	~ProximityRayPlugin ()
	Destructor.
Protected Member Functions
std::string	Topic (std::string topicName) const
	Generate a scoped topic name from a local one.
Protected Attributes
physics::LinkPtr	link
	Pointer to parent link.
std::mutex	mutex
	Mutex to protect interruptionMsg.
event::ConnectionPtr	newLaserScansConnection
	The connection tied to ProximityRayPlugin::OnNewLaserScans()
transport::NodePtr	node
	Pointer to this node for publishing.
bool	normallyOpen
	Whether or not the output function is normally open (default) or normally closed.
bool	objectDetected
	Sensor detection state.
sensors::RaySensorPtr	parentSensor
	The parent sensor.
double	sensingRangeMax
	Maximum sensing range in meters.
double	sensingRangeMin
	Minimum sensing range in meters.
transport::PublisherPtr	stateChangePub
	Publisher for the sensor state change.
std::string	stateChangeTopic
	Topic name for state change message.
msgs::Header	stateMsg
	State message.
transport::PublisherPtr	statePub
	Publisher for the sensor state.
std::string	stateTopic
	Topic name for state message.
bool	useLinkFrame
	Convert sensor ranges to parent link frame?
physics::WorldPtr	world
	Pointer to world.

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Detailed Description

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

Definition at line 34 of file ProximityRayPlugin.hh.

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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.

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Member Function Documentation

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

Load the plugin.

Parameters:

take	in SDF root element

Reimplemented in gazebo::ROSProximityRayPlugin.

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.

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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()

Reimplemented in gazebo::ROSProximityRayPlugin.

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.

Reimplemented in gazebo::ROSProximityRayPlugin.

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.

Reimplemented in gazebo::ROSProximityRayPlugin.

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.

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

• ProximityRayPlugin.hh
• ProximityRayPlugin.cc