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
|
| |