Description

GPS data format (4 doubles total)

Base class for a chrono sensor. A specific sensor can inherit from here

#include <ChSensor.h>

Inheritance diagram for chrono::sensor::ChSensor:
Collaboration diagram for chrono::sensor::ChSensor:

Public Member Functions

 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 ()
 

Protected Attributes

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

◆ ChSensor()

CH_SENSOR_API chrono::sensor::ChSensor::ChSensor ( std::shared_ptr< chrono::ChBody parent,
float  updateRate,
chrono::ChFrame< double >  offsetPose 
)

Constructor for the base sensor class.

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.
lagLag time between end of data collection and when data becomes available to the user.
collection_windowCollection time over which the sensor should collect data from the simulation.

Member Function Documentation

◆ GetCollectionWindow()

float chrono::sensor::ChSensor::GetCollectionWindow ( ) const
inline

Get the sensor data collection window (seconds)

Returns
The duration of simulation time over which the sensor generates its data

◆ GetFilterList()

std::list<std::shared_ptr<ChFilter> > chrono::sensor::ChSensor::GetFilterList ( ) const
inline

Get the sensor's list of filters.

Returns
An immutable list of filters that are used to generate and augment the sensor's data

◆ GetLag()

float chrono::sensor::ChSensor::GetLag ( ) const
inline

Get the sensor lag (seconds)

Returns
The lag of the sensor

◆ GetMostRecentBuffer()

template<class UserBufferType >
UserBufferType chrono::sensor::ChSensor::GetMostRecentBuffer ( )

Get the last filter in the list that matches the template type.

Returns
A shared pointer to a ChSensorBuffer of the templated type.

◆ GetName()

std::string chrono::sensor::ChSensor::GetName ( ) const
inline

Get the name of the sensor.

Returns
The string name of the sensor

◆ GetNumLaunches()

unsigned int chrono::sensor::ChSensor::GetNumLaunches ( )
inline

Get the number of times the sensor has been updated.

Returns
The number of times an update for the sensor has been started

◆ GetOffsetPose()

ChFrame<double> chrono::sensor::ChSensor::GetOffsetPose ( )
inline

Get the sensor's relative position and orientation.

Returns
The frame that specifies the offset pose

◆ GetParent()

std::shared_ptr<ChBody> chrono::sensor::ChSensor::GetParent ( ) const
inline

Get the object to which the sensor is attached.

Returns
A shared pointer to the body on which the sensor is attached

◆ GetUpdateRate()

float chrono::sensor::ChSensor::GetUpdateRate ( ) const
inline

Get the sensor update rate (Hz)

Returns
The update rate in Hz

◆ LockFilterList()

void chrono::sensor::ChSensor::LockFilterList ( )
inline

Gives ability to lock the filter list to prevent race conditions.

This is called automatically when the sensor is added to the ChSensor manager. This is needed to prevent changing of filters while a worker thread is processing the filters. WARNING: this operation cannot be undone.

◆ PushFilter()

CH_SENSOR_API void chrono::sensor::ChSensor::PushFilter ( std::shared_ptr< ChFilter filter)

Add a filter to the sensor.

Parameters
FilterA filter that should be added to the filter list if the filter list is not yet locked. If the filter list has been locked (i.e. the sensor has started generating data) the new filter will be ignored.

◆ SetCollectionWindow()

CH_SENSOR_API void chrono::sensor::ChSensor::SetCollectionWindow ( float  t)

Set the collection window.

Parameters
tThe collection time of the sensor

◆ SetLag()

CH_SENSOR_API void chrono::sensor::ChSensor::SetLag ( float  t)

Set the lag parameter.

Parameters
tThe lag time

◆ SetName()

void chrono::sensor::ChSensor::SetName ( std::string  name)
inline

Set the sensor's name.

Parameters
nameName of the sensor -> not used for any internal critical mechanisms

◆ SetOffsetPose()

void chrono::sensor::ChSensor::SetOffsetPose ( chrono::ChFrame< double >  pose)
inline

Set the sensor's relative position and orientation.

Parameters
poseThe relative position and orientation with respect to the parent body

◆ SetUpdateRate()

void chrono::sensor::ChSensor::SetUpdateRate ( float  updateRate)
inline

Set the sensor update rate (Hz)

Parameters
UpdateRateDesired update rate in Hz

Member Data Documentation

◆ m_collection_window

float chrono::sensor::ChSensor::m_collection_window
protected

time over which data is collected.

(lag+shutter = time from when data collection is started to when it is available to the user)


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