GpsSensor.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef _GAZEBO_SENSORS_GPSSENSOR_HH_
18#define _GAZEBO_SENSORS_GPSSENSOR_HH_
19
20#include <memory>
21#include <string>
22
23#include <ignition/math/Angle.hh>
24#include <sdf/sdf.hh>
25
28#include "gazebo/util/system.hh"
29
30namespace gazebo
31{
32 namespace sensors
33 {
34 // Forward declare private data class
35 class GpsSensorPrivate;
36
39
42 class GZ_SENSORS_VISIBLE GpsSensor: public Sensor
43 {
45 public: GpsSensor();
46
48 public: virtual ~GpsSensor();
49
50 // Documentation inherited
51 public: virtual void Load(const std::string & _worldName,
52 sdf::ElementPtr _sdf);
53
54 // Documentation inherited
55 public: virtual void Load(const std::string & _worldName);
56
57 // Documentation inherited
58 public: virtual void Init();
59
60 // Documentation inherited
61 protected: virtual bool UpdateImpl(const bool _force);
62
63 // Documentation inherited
64 public: virtual void Fini();
65
68 public: ignition::math::Angle Longitude() const;
69
72 public: ignition::math::Angle Latitude() const;
73
76 public: double Altitude() const;
77
80 public: ignition::math::Vector3d VelocityENU() const;
81
84 public: double VelocityEast() const;
85
88 public: double VelocityNorth() const;
89
92 public: double VelocityUp() const;
93
96 private: std::unique_ptr<GpsSensorPrivate> dataPtr;
97 };
98
99 }
100}
101#endif
Forward declarations and typedefs for sensors.
virtual void Fini()
Finalize the sensor.
virtual void Init()
Initialize the sensor.
virtual void Load(const std::string &_worldName, sdf::ElementPtr _sdf)
Load the sensor with SDF parameters.
virtual ~GpsSensor()
Destructor.
virtual void Load(const std::string &_worldName)
Load the sensor with default parameters.
ignition::math::Vector3d VelocityENU() const
Accessor for curent velocity in East-North-Up frame.
ignition::math::Angle Longitude() const
Accessor for current longitude angle.
double Altitude() const
Accessor for current altitude.
double VelocityUp() const
Accessor for current velocity in Up direction.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
ignition::math::Angle Latitude() const
Accessor for current latitude angle.
double VelocityNorth() const
Accessor for current velocity in North direction.
double VelocityEast() const
Accessor for current velocity in East direction.
Sensor(SensorCategory _cat)
Constructor.
Sensors namespace.
Definition AltimeterSensor.hh:34
Forward declarations for the common classes.
Definition Animation.hh:27