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/*
* Copyright 2021 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDF_NAVSAT_HH_
#define SDF_NAVSAT_HH_
#include <ignition/utils/ImplPtr.hh>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/Noise.hh>
#include <sdf/sdf_config.h>
#include <ignition/math/Angle.hh>
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
/// \brief NavSat contains information about a NavSat sensor.
/// This sensor can be attached to a link. The NavSat sensor can be defined
/// SDF XML by the "navsat" type.
///
/// # Example SDF XML using navsat type:
///
/// ~~~{.xml}
/// <sensor name="navsat_sensor" type="navsat">
/// <pose>1 2 3 0 0 0</pose>
/// <topic>/navsat</topic>
/// <navsat>
/// <position_sensing>
/// <horizontal>
/// <noise type="gaussian">
/// <mean>0.98</mean>
/// <stddev>0.76</stddev>
/// </noise>
/// </horizontal>
/// <vertical>
/// <noise type="gaussian">
/// <mean>0.98</mean>
/// <stddev>0.76</stddev>
/// </noise>
/// </vertical>
/// </position_sensing>
/// <velocity_sensing>
/// <horizontal>
/// <noise type="gaussian">
/// <mean>0.98</mean>
/// <stddev>0.76</stddev>
/// </noise>
/// </horizontal>
/// <vertical>
/// <noise type="gaussian">
/// <mean>0.98</mean>
/// <stddev>0.76</stddev>
/// </noise>
/// </vertical>
/// </velocity_sensing>
/// </navsat>
/// </sensor>
/// ~~~
class SDFORMAT_VISIBLE NavSat
{
/// \brief Default constructor
public: NavSat();
/// \brief Load the navsat based on an element pointer. This is *not*
/// the usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get a pointer to the SDF element that was used during
/// load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Set the noise values for the horizontal position sensor
/// \param[in] _noise Noise values to set to
public: void SetHorizontalPositionNoise(const Noise &_noise);
/// \brief Get noise value for horizontal position sensor
/// \return Noise values
public: const Noise &HorizontalPositionNoise() const;
/// \brief Set the noise values for the vertical position sensor
/// \param[in] _noise Noise values to set to
public: void SetVerticalPositionNoise(const Noise &_noise);
/// \brief Get noise value for vertical position sensor
/// \return Noise values
public: const Noise &VerticalPositionNoise() const;
/// \brief Set the noise values for the horizontal velocity sensor
/// \param[in] _noise Noise values to set to
public: void SetHorizontalVelocityNoise(const Noise &_noise);
/// \brief Get noise value for horizontal velocity sensor
/// \return Noise values
public: const Noise &HorizontalVelocityNoise() const;
/// \brief Set the noise values for the vertical velocity sensor
/// \param[in] _noise Noise values to set to
public: void SetVerticalVelocityNoise(const Noise &_noise);
/// \brief Get noise value for vertical velocity sensor
/// \return Noise values
public: const Noise &VerticalVelocityNoise() const;
/// \brief Return true if both NavSat objects contain the same values.
/// \param[_in] _navsat NavSat value to compare.
/// \return True if 'this' == _navsat.
public: bool operator==(const NavSat &_navsat) const;
/// \brief Return true this NavSat object does not contain the same
/// values as the passed in parameter.
/// \param[_in] _navsat NavSat value to compare.
/// \return True if 'this' != _navsat.
public: bool operator!=(const NavSat &_navsat) const;
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#endif
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