Description

Lidar class. This corresponds to a scanning lidar.

#include <ChLidarSensor.h>

Inheritance diagram for chrono::sensor::ChLidarSensor:

Collaboration diagram for chrono::sensor::ChLidarSensor:

[legend]

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=0.003f, LidarReturnMode return_mode=LidarReturnMode::STRONGEST_RETURN, LidarModelType lidar_model=LidarModelType::RAYCAST, float clip_near=1e-3f)
	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, 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. More...

virtual	~ChOptixSensor ()
	camera class destructor

ProgramString &	RenderProgramString ()
	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< ChBody >	GetParent () 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::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

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 = `0.003f`,
		LidarReturnMode	return_mode = `LidarReturnMode::STRONGEST_RETURN`,
		LidarModelType	lidar_model = `LidarModelType::RAYCAST`,
		float	clip_near = `1e-3f`
	)

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

Parameters

parent	Body to which the sensor is attached.
updateRate	Rate at which the sensor should update.
offsetPose	Relative position and orientation of the sensor with respect to its parent object.
w	Width in number of samples of a lidar scan
h	Height in number of sample of a lidar scan (typical the same as laser channels)
hfov	Horizontal field of view of the lidar
max_vertical_angle	Maximum vertical angle of the lidar
min_vertical_angle	Minimum vertical angle of the lidar
max_distance	Maximum range of lidar
sample_radius	The radius in samples for multisampling beams (total samples per beam is 2*radius-1)
divergence_angle	The divergence angle of the lidar's laser beam
return_mode	The return mode for lidar data when multiple objects are visible
lidar_model	The model to be used for generating lidar data
clip_near	Near 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

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChLidarSensor()

Member Function Documentation

◆ GetHFOV()

◆ GetMaxVertAngle()

◆ GetMinVertAngle()

◆ GetModelType()