Let derived sensors call Sensor::Update (#187)

Signed-off-by: Louise Poubel <[email protected]>

include/ignition/sensors/AirPressureSensor.hh

@@ -64,6 +64,8 @@ namespace ignition
       /// \return True on success
       public: virtual bool Init() override;
 
+      using Sensor::Update;
+
       /// \brief Update the sensor and generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull

include/ignition/sensors/AltimeterSensor.hh

@@ -64,6 +64,8 @@ namespace ignition
       /// \return True on success
       public: virtual bool Init() override;
 
+      using Sensor::Update;
+
       /// \brief Update the sensor and generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull

include/ignition/sensors/CameraSensor.hh

@@ -90,6 +90,8 @@ namespace ignition
       /// \return True on success
       public: virtual bool Init() override;
 
+      using Sensor::Update;
+
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull

include/ignition/sensors/ForceTorqueSensor.hh

@@ -67,6 +67,8 @@ namespace ignition
       /// \return True on success
       public: virtual bool Init() override;
 
+      using Sensor::Update;
+
       /// \brief Update the sensor and generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull

include/ignition/sensors/ImuSensor.hh

@@ -65,6 +65,8 @@ namespace ignition
       /// \return True on success
       public: virtual bool Init() override;
 
+      using Sensor::Update;
+
       /// \brief Update the sensor and generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull

include/ignition/sensors/LogicalCameraSensor.hh

@@ -75,6 +75,8 @@ namespace ignition
       /// \return True on success
       public: virtual bool Init() override;
 
+      using Sensor::Update;
+
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull

include/ignition/sensors/MagnetometerSensor.hh

@@ -65,6 +65,8 @@ namespace ignition
       /// \return True on success
       public: virtual bool Init() override;
 
+      using Sensor::Update;
+
       /// \brief Update the sensor and generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull

test/integration/air_pressure.cc

@@ -209,7 +209,7 @@ TEST_F(AirPressureSensorTest, SensorReadings)
   WaitForMessageTestHelper<ignition::msgs::FluidPressure>
     msgHelperNoise(topicNoise);
   sensorNoise->Update(std::chrono::steady_clock::duration(
-      std::chrono::seconds(1)));
+      std::chrono::seconds(1)), false);
   EXPECT_TRUE(msgHelperNoise.WaitForMessage()) << msgHelperNoise;
   auto msgNoise = msgHelperNoise.Message();
   EXPECT_EQ(1, msg.header().stamp().sec());

test/integration/altimeter.cc

@@ -235,7 +235,7 @@ TEST_F(AltimeterSensorTest, SensorReadings)
   WaitForMessageTestHelper<ignition::msgs::Altimeter>
     msgHelperNoise(topicNoise);
   sensorNoise->Update(std::chrono::steady_clock::duration(
-    std::chrono::seconds(1)));
+    std::chrono::seconds(1)), false);
   EXPECT_TRUE(msgHelperNoise.WaitForMessage()) << msgHelperNoise;
   auto msgNoise = msgHelperNoise.Message();
   EXPECT_EQ(1, msg.header().stamp().sec());

test/integration/force_torque.cc

@@ -238,7 +238,7 @@ TEST_P(ForceTorqueSensorTest, SensorReadings)
   sensor->SetRotationParentInSensor(rotParentInSensor);
   EXPECT_EQ(rotParentInSensor, sensor->RotationParentInSensor());
 
-  sensor->Update(dt);
+  sensor->Update(dt, false);
   EXPECT_TRUE(msgHelper.WaitForMessage()) << msgHelper;
   auto msg = msgHelper.Message();
   EXPECT_EQ(1, msg.header().stamp().sec());

test/integration/imu.cc

@@ -196,7 +196,7 @@ TEST_F(ImuSensorTest, SensorReadings)
 
   // update sensor and verify new readings
   EXPECT_TRUE(sensor->Update(std::chrono::steady_clock::duration(
-    std::chrono::seconds(2))));
+    std::chrono::seconds(2)), false));
   EXPECT_EQ(orientRef, sensor->OrientationReference());
   EXPECT_EQ(gravity, sensor->Gravity());
   EXPECT_EQ(angularVel, sensor->AngularVelocity());

test/integration/logical_camera.cc

@@ -192,7 +192,7 @@ TEST_F(LogicalCameraSensorTest, DetectBox)
   sensor->SetModelPoses(std::move(modelPoses2));
 
   // update
-  sensor->Update(std::chrono::steady_clock::duration::zero());
+  sensor->Update(std::chrono::steady_clock::duration::zero(), false);
 
   // verify box is not in the image
   img = sensor->Image();

test/integration/magnetometer.cc

@@ -241,7 +241,7 @@ TEST_F(MagnetometerSensorTest, SensorReadings)
   EXPECT_EQ(worldField, sensor->MagneticField());
 
   EXPECT_TRUE(sensorNoise->Update(std::chrono::steady_clock::duration(
-    std::chrono::seconds(1))));
+    std::chrono::seconds(1)), false));
   EXPECT_EQ(poseNoise, sensorNoise->WorldPose());
   EXPECT_EQ(worldFieldNoise, sensorNoise->WorldMagneticField());
   // There should be noise in the MagneticField