Description

Collaboration diagram for Sensors:

Classes

class  chrono::sensor::ChCameraSensor
 Camera class. More...
 
class  chrono::sensor::ChDynamicsManager
 class for managing dynamic sensors. More...
 
class  chrono::sensor::ChGPSSensor
 GPS class. More...
 
class  chrono::sensor::ChIMUSensor
 IMU class. More...
 
class  chrono::sensor::ChLidarSensor
 Lidar class. This corresponds to a scanning lidar. More...
 
class  chrono::sensor::ChOptixSensor
 Optix sensor class - the base class for all sensors that interface with OptiX to generate and render their data. More...
 
class  chrono::sensor::ChSensor
 GPS data format (4 doubles total) More...
 
class  chrono::sensor::Sensor
 Sensor class for constructing sensors from a JSON specification file. More...
 

Enumerations

enum  chrono::sensor::CameraLensModelType { chrono::sensor::PINHOLE, chrono::sensor::SPHERICAL }
 The type of lens model that camera can use for rendering. More...
 
enum  chrono::sensor::LidarModelType { chrono::sensor::RAYCAST }
 Lidar model type. Currently supports a ray cast model that does not include material properties. More...
 
enum  chrono::sensor::LidarReturnMode { chrono::sensor::STRONGEST_RETURN, chrono::sensor::MEAN_RETURN, chrono::sensor::FIRST_RETURN, chrono::sensor::LAST_RETURN }
 Lidar return mode when multiple objects are seen. More...
 

Variables

const char chrono::sensor::ChFilterR8AccessName [] = "ChFilterR8Access"
 global constanst for use in template parameters
 
const char chrono::sensor::ChFilterRGBA8AccessName [] = "ChFilterRGBA8Access"
 single channel 8 bit array
 
const char chrono::sensor::ChFilterDIAccessName [] = "ChFilterDIAccess"
 4 channel 8 bit array
 
const char chrono::sensor::ChFilterXYZIAccessName [] = "ChFilterXYZIAccess"
 2 channel float array (Depth+Intenisty)
 
const char chrono::sensor::ChFilterIMUAccessName [] = "ChFilterIMUAccess"
 4 channel float array (XYZ positions+Intensity)
 
const char chrono::sensor::ChFilterGPSAccessName [] = "ChFilterGPSAccess"
 IMU data format (6 floats total)
 

Enumeration Type Documentation

◆ CameraLensModelType

The type of lens model that camera can use for rendering.

Enumerator
PINHOLE 

traditional computer graphics ideal camera model.

SPHERICAL 

Wide angle lens model based on single spherical lens.

◆ LidarModelType

Lidar model type. Currently supports a ray cast model that does not include material properties.

Enumerator
RAYCAST 

Beams are raycast in the environment with no bounces.

◆ LidarReturnMode

Lidar return mode when multiple objects are seen.

Currently supported: strongest return (default), and mean return which averages all returned intensity and distance measurement data

Enumerator
STRONGEST_RETURN 

range at peak intensity

MEAN_RETURN 

average beam range

FIRST_RETURN 

shorted beam range

LAST_RETURN 

longest beam range