Lidar class. This corresponds to a scanning lidar.
|
| ChLidarSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose, unsigned int w, unsigned int h, float hfov, float max_vertical_angle, float min_vertical_angle, float max_distance, LidarBeamShape beam_shape=LidarBeamShape::RECTANGULAR, unsigned int sample_radius=1, float vert_divergence_angle=.003f, float hori_divergence_angle=.003f, LidarReturnMode return_mode=LidarReturnMode::MEAN_RETURN, float clip_near=1e-3f) |
| Constructor for the base lidar class, defaulting to using a single ray per beam.
|
|
| ~ChLidarSensor () |
| Class destructor.
|
|
float | GetHFOV () const |
| Gives the horizontal field of view of the lidar (angle between right-most and left-most ray for a "frame").
|
|
float | GetMaxVertAngle () const |
| returns the lidar's horizontal field of view
|
|
float | GetMinVertAngle () const |
| Returns the lowest vertical angle of any ray in the lidar.
|
|
float | GetMaxDistance () const |
| Returns the maximum range of the lidar.
|
|
float | GetClipNear () const |
| Returns the near clipping distance.
|
|
LidarBeamShape | GetBeamShape () const |
| Returns the beam cross section shape.
|
|
unsigned int | GetSampleRadius () const |
| Returns the beam sample radius.
|
|
float | GetHorizDivAngle () const |
| Returns the horizontal beam divergence angle.
|
|
float | GetVertDivAngle () const |
| Returns the vertical beam divergence angle.
|
|
bool | DualReturnFlag () const |
|
| ChOptixSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose, unsigned int w, unsigned int h) |
| Constructor for the base camera class that defaults to a pinhole lens model.
|
|
virtual | ~ChOptixSensor () |
| camera class destructor
|
|
PipelineType | GetPipelineType () |
|
unsigned int | GetWidth () |
|
unsigned int | GetHeight () |
|
CUstream | GetCudaStream () |
|
| ChSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose) |
| Constructor for the base sensor class.
|
|
virtual | ~ChSensor () |
| Class destructor.
|
|
void | SetOffsetPose (chrono::ChFrame< double > pose) |
| Set the sensor's relative position and orientation.
|
|
ChFrame< double > | GetOffsetPose () |
| Get the sensor's relative position and orientation.
|
|
std::shared_ptr< ChBody > | GetParent () const |
| Get the object to which the sensor is attached.
|
|
void | SetName (std::string name) |
| Set the sensor's name.
|
|
std::string | GetName () const |
| Get the name of the sensor.
|
|
float | GetUpdateRate () const |
| Get the sensor update rate (Hz)
|
|
void | SetLag (float t) |
| Set the lag parameter.
|
|
float | GetLag () const |
| Get the sensor lag (seconds)
|
|
void | SetCollectionWindow (float t) |
| Set the collection window.
|
|
float | GetCollectionWindow () const |
| Get the sensor data collection window (seconds)
|
|
void | SetUpdateRate (float updateRate) |
| Set the sensor update rate (Hz)
|
|
unsigned int | GetNumLaunches () |
| Get the number of times the sensor has been updated.
|
|
void | IncrementNumLaunches () |
| Increments the count of number of updates.
|
|
std::list< std::shared_ptr< ChFilter > > | GetFilterList () const |
| Get the sensor's list of filters.
|
|
void | PushFilter (std::shared_ptr< ChFilter > filter) |
| Add a filter to the sensor.
|
|
void | PushFilterFront (std::shared_ptr< ChFilter > filter) |
| Add a filter to the front of the list on a sensor.
|
|
void | LockFilterList () |
| Gives ability to lock the filter list to prevent race conditions.
|
|
template<class UserBufferType > |
UserBufferType | GetMostRecentBuffer () |
| Get the last filter in the list that matches the template type.
|
|
template<> |
CH_SENSOR_API UserR8BufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserRGBA8BufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserDepthBufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserDIBufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserXYZIBufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserRadarBufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserRadarXYZBufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserAccelBufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserGyroBufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserMagnetBufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserGPSBufferPtr | GetMostRecentBuffer () |
|
template<> |
CH_SENSOR_API UserTachometerBufferPtr | GetMostRecentBuffer () |
|
|
PipelineType | m_pipeline_type |
| the type of pipeline for rendering
|
|
float | m_updateRate |
| sensor update rate
|
|
float | m_lag |
| sensor lag from the time all scene information is available (sensor processing time)
|
|
float | m_collection_window |
| time over which data is collected.
|
|
float | m_timeLastUpdated |
| time since previous update
|
|
std::shared_ptr< chrono::ChBody > | m_parent |
| object to which the sensor is attached
|
|
chrono::ChFrame< double > | m_offsetPose |
| position and orientation of the sensor relative to its parent
|
|
std::string | m_name |
| name of the sensor
|
|
unsigned int | m_num_launches |
| number of times the sensor has been updated
|
|
std::list< std::shared_ptr< ChFilter > > | m_filters |
| filter list for post-processing sensor data
|
|
bool | m_filter_list_locked = false |
| gives ability to lock the filter list to prevent race conditions
|
|