chrono::sensor::ChLidarSensor Class Reference

Description

Lidar class. This corresponds to a scanning lidar.

#include <ChLidarSensor.h>

Inheritance diagram for chrono::sensor::ChLidarSensor:
Collaboration diagram for chrono::sensor::ChLidarSensor:

Public Member Functions

 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, unsigned int sample_radius=1, float divergence_angle=.003, LidarReturnMode return_mode=STRONGEST_RETURN, LidarModelType lidar_model=RAYCAST, float clip_near=1e-3)
 Constructor for the base lidar class, defaulting to using a single ray per beam. More...
 
 ~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"). More...
 
float GetMaxVertAngle () const
 returns the lidar's horizontal field of view More...
 
float GetMinVertAngle () const
 Returns the lowest vertical angle of any ray in the lidar. More...
 
LidarModelType GetModelType () const
 Returns the model type being used by the lidar for generating data. More...
 
- Public Member Functions inherited from chrono::sensor::ChOptixSensor
 ChOptixSensor (std::shared_ptr< chrono::ChBody > parent, double updateRate, chrono::ChFrame< double > offsetPose, unsigned int w, unsigned int h)
 Constructor for the base camera class that defaults to a pinhole lens model. More...
 
virtual ~ChOptixSensor ()
 camera class destructor
 
ProgramStringRenderProgramString ()
 virtual function for getting the string used for generating the ray-laucnh program More...
 
RTformat & RenderBufferFormat ()
 virtual function of getting the format for the output buffer More...
 
std::vector< std::tuple< std::string, RTobjecttype, void * > > & RayLaunchParameters ()
 virtual function for getting any additional render parameters need by the sensor More...
 
- Public Member Functions inherited from chrono::sensor::ChSensor
 ChSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose)
 Constructor for the base sensor class. More...
 
virtual ~ChSensor ()
 Class destructor.
 
void SetOffsetPose (chrono::ChFrame< double > pose)
 Set the sensor's relative position and orientation. More...
 
ChFrame< double > GetOffsetPose ()
 Get the sensor's relative position and orientation. More...
 
std::shared_ptr< ChBodyGetParent () const
 Get the object to which the sensor is attached. More...
 
void SetName (std::string name)
 Set the sensor's name. More...
 
std::string GetName () const
 Get the name of the sensor. More...
 
float GetUpdateRate () const
 Get the sensor update rate (Hz) More...
 
void SetLag (float t)
 Set the lag parameter. More...
 
float GetLag () const
 Get the sensor lag (seconds) More...
 
void SetCollectionWindow (float t)
 Set the collection window. More...
 
float GetCollectionWindow () const
 Get the sensor data collection window (seconds) More...
 
void SetUpdateRate (float updateRate)
 Set the sensor update rate (Hz) More...
 
unsigned int GetNumLaunches ()
 Get the number of times the sensor has been updated. More...
 
void IncrementNumLaunches ()
 Increments the count of number of updates.
 
std::list< std::shared_ptr< ChFilter > > GetFilterList () const
 Get the sensor's list of filters. More...
 
void PushFilter (std::shared_ptr< ChFilter > filter)
 Add a filter to the sensor. More...
 
void LockFilterList ()
 Gives ability to lock the filter list to prevent race conditions. More...
 
template<class UserBufferType >
UserBufferType GetMostRecentBuffer ()
 Get the last filter in the list that matches the template type. More...
 
template<>
CH_SENSOR_API UserR8BufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserRGBA8BufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserDIBufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserXYZIBufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserIMUBufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserGPSBufferPtr GetMostRecentBuffer ()
 

Additional Inherited Members

- Protected Attributes inherited from chrono::sensor::ChOptixSensor
ProgramString m_program_string
 the string tuple that specifies the file and name of the ray generation program
 
RTformat m_buffer_format
 the format of the output buffer
 
std::vector< std::tuple< std::string, RTobjecttype, void * > > m_ray_launch_params
 holder of any additional ray generation parameters we need to pass to OptiX
 
- Protected Attributes inherited from chrono::sensor::ChSensor
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. More...
 
float m_timeLastUpdated
 time since previous update
 
std::shared_ptr< chrono::ChBodym_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
 

Constructor & Destructor Documentation

◆ ChLidarSensor()

CH_SENSOR_API chrono::sensor::ChLidarSensor::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,
unsigned int  sample_radius = 1,
float  divergence_angle = .003,
LidarReturnMode  return_mode = STRONGEST_RETURN,
LidarModelType  lidar_model = RAYCAST,
float  clip_near = 1e-3 
)

Constructor for the base lidar class, defaulting to using a single ray per beam.

Parameters
parentBody to which the sensor is attached.
updateRateRate at which the sensor should update.
offsetPoseRelative position and orientation of the sensor with respect to its parent object.
wWidth in number of samples of a lidar scan
hHeight in number of sample of a lidar scan (typical the same as laser channels)
hfovHorizontal field of view of the lidar
max_vertical_angleMaximum vertical angle of the lidar
min_vertical_angleMinimum vertical angle of the lidar
lagLag time between end of data collection and when data becomes available to the user.
collection_timeCollection time over which the sensor should collect data from the simulation.
sample_radiusThe radius in samples for multisampling beams (total samples per beam is 2*radius-1)
divergence_angleThe divergence angle of the lidar's laser beam
return_modeThe return mode for lidar data when multiple objects are visible
lidar_modelThe model to be used for generating lidar data
clip_nearNear clipping distance so that lidar sensor can be easily placed inside a visualization object (sensor housing)

Member Function Documentation

◆ GetHFOV()

float chrono::sensor::ChLidarSensor::GetHFOV ( ) const
inline

Gives the horizontal field of view of the lidar (angle between right-most and left-most ray for a "frame").

Horizontal field of view should be 360-(angular resulution) in degrees for a full 360 degree scanning lidar.

Returns
The horizontal field of view of the lidar sensor

◆ GetMaxVertAngle()

float chrono::sensor::ChLidarSensor::GetMaxVertAngle ( ) const
inline

returns the lidar's horizontal field of view

Returns the highest vertical angle of any ray in the lidar

Returns
The angle of the highest ray

◆ GetMinVertAngle()

float chrono::sensor::ChLidarSensor::GetMinVertAngle ( ) const
inline

Returns the lowest vertical angle of any ray in the lidar.

Returns
The angle of the lowest ray

◆ GetModelType()

LidarModelType chrono::sensor::ChLidarSensor::GetModelType ( ) const
inline

Returns the model type being used by the lidar for generating data.

Returns
The type of model that is being used for generating lidar data

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_sensor/ChLidarSensor.h
  • /builds/uwsbel/chrono/src/chrono_sensor/ChLidarSensor.cpp