Add Gps Sensor to IGN-Sensors library

.gitignore

@@ -7,3 +7,4 @@ build
 
 # Version control generated files
 *.orig
+.vscode

include/ignition/sensors/GpsSensor.hh

@@ -0,0 +1,135 @@
+/*
+ * Copyright (C) 2020 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 IGNITION_SENSORS_GPS_HH_
+#define IGNITION_SENSORS_GPS_HH_
+
+#include <memory>
+
+#include <sdf/sdf.hh>
+
+#include <ignition/common/SuppressWarning.hh>
+#include <ignition/common/Time.hh>
+
+#include <ignition/sensors/config.hh>
+#include <ignition/sensors/gps/Export.hh>
+
+#include "ignition/sensors/Sensor.hh"
+
+namespace ignition
+{
+  namespace sensors
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
+    //
+    /// \brief forward declarations
+    class GpsPrivate;
+
+    /// \brief Gps Sensor Class
+    ///
+    /// An gps sensor that reports vertical position and velocity
+    /// readings over ign transport
+    class IGNITION_SENSORS_GPS_VISIBLE GpsSensor : public Sensor
+    {
+      /// \brief constructor
+      public: GpsSensor();
+
+      /// \brief destructor
+      public: virtual ~GpsSensor();
+
+      /// \brief Load the sensor based on data from an sdf::Sensor object.
+      /// \param[in] _sdf SDF Sensor parameters.
+      /// \return true if loading was successful
+      public: virtual bool Load(const sdf::Sensor &_sdf) override;
+
+      /// \brief Load the sensor with SDF parameters.
+      /// \param[in] _sdf SDF Sensor parameters.
+      /// \return true if loading was successful
+      public: virtual bool Load(sdf::ElementPtr _sdf) override;
+
+      /// \brief Initialize values in the sensor
+      /// \return True on success
+      public: virtual bool Init() override;
+
+      /// \brief Update the sensor and generate data
+      /// \param[in] _now The current time
+      /// \return true if the update was successfull
+      public: virtual bool IGN_DEPRECATED(4)  Update(
+        const ignition::common::Time &_now) override;
+
+      /// \brief Update the sensor and generate data
+      /// \param[in] _now The current time
+      /// \return true if the update was successfull
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
+
+
+
+      /// \brief Set the latitude of the GPS
+      /// \param[in] _latitude Latitude of GPS in degrees
+      public: void SetLatitude(double _latitude);
+
+      /// \brief Get the latitude of the GPS, wraped between +/- 180
+      /// \return Latitude in degrees.
+      public: double Latitude() const;
+
+
+      /// \brief Set the longitude of the GPS
+      /// \param[in] _longitude Longitude of GPS in degrees
+      public: void SetLongitude(double _longitude);
+
+      /// \brief Get the longitude of the GPS, wraped between +/- 180
+      /// \return Longitude in degrees.
+      public: double Longitude() const;
+
+
+      /// \brief Set the altitude of the GPS
+      /// \param[in] _altitude altitude of GPS in meters
+      public: void SetAltitude(double _altitude);
+
+      /// \brief GPS altitude is the GEOMETRIC altitude above sea level
+      /// \return Altitude in meters
+      public: double Altitude() const;
+
+
+      /// \brief Set the velocity of the GPS
+      /// \param[in] _vel vector3 of GPS in meters per second.
+      public: void SetVelocity(ignition::math::Vector3d &_vel);
+
+      /// \brief Get the velocity of the GPS sensor
+      /// \return velocity vector3 in meters per second
+      public: ignition::math::Vector3d Velocity() const;
+
+
+      /// \brief Easy short hand for setting the lat/long of the gps.
+      /// \param[in] _latitude in degrees
+      /// \param[in] _longitude in degrees
+      public: void SetPosition(double _latitude, double _longitude,
+        double _altitude = 0.0);
+
+
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
+      /// \brief Data pointer for private data
+      /// \internal
+      private: std::unique_ptr<GpsPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
+    };
+    }
+  }
+}
+
+#endif

include/ignition/sensors/SensorTypes.hh

@@ -149,6 +149,22 @@ namespace ignition
       /// \sa Lidar
       LIDAR_NOISE = 14,
 
+      /// \brief Noise streams for the Gps position sensor
+      /// \sa Gps
+      GPS_HORIZONTAL_POSITION_NOISE = 15,
+
+      /// \brief Noise streams for the Gps position sensor
+      /// \sa Gps
+      GPS_VERTICAL_POSITION_NOISE = 16,
+
+      /// \brief Noise streams for the Gps velocity sensor
+      /// \sa Gps
+      GPS_HORIZONTAL_VELOCITY_NOISE = 17,
+
+      /// \brief Noise streams for the Gps velocity sensor
+      /// \sa Gps
+      GPS_VERTICAL_VELOCITY_NOISE = 18,
+
       /// \internal
       /// \brief Indicator used to create an iterator over the enum. Do not
       /// use this.

src/CMakeLists.txt

@@ -114,6 +114,9 @@ ign_add_component(imu SOURCES ${imu_sources} GET_TARGET_NAME imu_target)
 set(altimeter_sources AltimeterSensor.cc)
 ign_add_component(altimeter SOURCES ${altimeter_sources} GET_TARGET_NAME altimeter_target)
 
+set(gps_sources GpsSensor.cc)
+ign_add_component(gps SOURCES ${gps_sources} GET_TARGET_NAME gps_target)
+
 set(air_pressure_sources AirPressureSensor.cc)
 ign_add_component(air_pressure SOURCES ${air_pressure_sources} GET_TARGET_NAME air_pressure_target)