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Merge pull request #693 from ignitionrobotics/azeey/11_to_main_20210907
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| build | ||
| build_* | ||
| *.*.sw? | ||
| .vscode | ||
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| Material.hh | ||
| Mesh.hh | ||
| Model.hh | ||
| NavSat.hh | ||
| Noise.hh | ||
| Param.hh | ||
| parser.hh | ||
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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_ | ||
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| #include <ignition/utils/ImplPtr.hh> | ||
| #include <sdf/Error.hh> | ||
| #include <sdf/Element.hh> | ||
| #include <sdf/Noise.hh> | ||
| #include <sdf/sdf_config.h> | ||
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| #include <ignition/math/Angle.hh> | ||
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| 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); | ||
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| /// \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; | ||
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| /// \brief Set the noise values for the horizontal position sensor | ||
| /// \param[in] _noise Noise values to set to | ||
| public: void SetHorizontalPositionNoise(const Noise &_noise); | ||
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| /// \brief Get noise value for horizontal position sensor | ||
| /// \return Noise values | ||
| public: const Noise &HorizontalPositionNoise() const; | ||
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| /// \brief Set the noise values for the vertical position sensor | ||
| /// \param[in] _noise Noise values to set to | ||
| public: void SetVerticalPositionNoise(const Noise &_noise); | ||
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| /// \brief Get noise value for vertical position sensor | ||
| /// \return Noise values | ||
| public: const Noise &VerticalPositionNoise() const; | ||
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| /// \brief Set the noise values for the horizontal velocity sensor | ||
| /// \param[in] _noise Noise values to set to | ||
| public: void SetHorizontalVelocityNoise(const Noise &_noise); | ||
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| /// \brief Get noise value for horizontal velocity sensor | ||
| /// \return Noise values | ||
| public: const Noise &HorizontalVelocityNoise() const; | ||
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| /// \brief Set the noise values for the vertical velocity sensor | ||
| /// \param[in] _noise Noise values to set to | ||
| public: void SetVerticalVelocityNoise(const Noise &_noise); | ||
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| /// \brief Get noise value for vertical velocity sensor | ||
| /// \return Noise values | ||
| public: const Noise &VerticalVelocityNoise() const; | ||
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| /// \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; | ||
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| /// \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; | ||
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| /// \brief Private data pointer. | ||
| IGN_UTILS_IMPL_PTR(dataPtr) | ||
| }; | ||
| } | ||
| } | ||
| #endif |
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