gazebo::GazeboYarpMultiCamera Class Reference

Gazebo Plugin reading from the Gazebo MultiCamera plugin. More...

#include <MultiCamera.hh>

Inheritance diagram for gazebo::GazeboYarpMultiCamera:

Collaboration diagram for gazebo::GazeboYarpMultiCamera:

Public Member Functions
	GazeboYarpMultiCamera ()
virtual	~GazeboYarpMultiCamera ()
virtual void	Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
virtual void	OnNewFrameLeft (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
virtual void	OnNewFrameRight (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)

Protected Attributes
sensors::MultiCameraSensorPtr	parentSensor
std::vector< unsigned int >	width
std::vector< unsigned int >	height
std::vector< unsigned int >	depth
std::vector< std::string >	format
std::vector< rendering::CameraPtr >	camera

Detailed Description

Gazebo Plugin reading from the Gazebo MultiCamera plugin.

This plugin instantiate a yarp camera driver for the Gazebo simulator and instantiate a network wrapper (provided by yarp::dev::ServerFrameGrabbers) to expose the sensor on the yarp network.

It can be configurated using the yarpConfigurationFile sdf tag, that contains a Gazebo URI pointing at a yarp .ini configuration file

The parameter that the yarpConfigurationFile must contain are:

name	Port name to assign to the wrapper to this device.
period	Update period (in s) of yarp port that publish the measure.

If the required parameters are not specified, their value will be the default one assigned by the yarp::dev::ServerFrameGrabbers wrapper.

Constructor & Destructor Documentation

GazeboYarpMultiCamera()

gazebo::GazeboYarpMultiCamera::GazeboYarpMultiCamera

(

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~GazeboYarpMultiCamera()

gazebo::GazeboYarpMultiCamera::~GazeboYarpMultiCamera ( )

virtual

Member Function Documentation

Load()

void gazebo::GazeboYarpMultiCamera::Load ( sensors::SensorPtr _sensor, sdf::ElementPtr _sdf )

virtual

Reimplemented from gazebo::MultiCameraPlugin.

OnNewFrameLeft()

void MultiCameraPlugin::OnNewFrameLeft ( const unsigned char * _image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string & _format )

virtualinherited

OnNewFrameRight()

void MultiCameraPlugin::OnNewFrameRight ( const unsigned char * _image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string & _format )

virtualinherited

Member Data Documentation

parentSensor

sensors::MultiCameraSensorPtr gazebo::MultiCameraPlugin::parentSensor

protectedinherited

width

std::vector<unsigned int> gazebo::MultiCameraPlugin::width

protectedinherited

height

std::vector<unsigned int> gazebo::MultiCameraPlugin::height

protectedinherited

depth

std::vector<unsigned int> gazebo::MultiCameraPlugin::depth

protectedinherited

format

std::vector<std::string> gazebo::MultiCameraPlugin::format

protectedinherited

camera

std::vector<rendering::CameraPtr> gazebo::MultiCameraPlugin::camera

protectedinherited

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

• MultiCamera.hh
• MultiCamera.cc