chrono::sensor::ChOptixSensor Class Reference
Description
Optix sensor class - the base class for all sensors that interface with OptiX to generate and render their data.
#include <ChOptixSensor.h>
Inheritance diagram for chrono::sensor::ChOptixSensor:
Collaboration diagram for chrono::sensor::ChOptixSensor:
Public Member Functions | |
| 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 () |
Protected Attributes | |
| 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 | |
Friends | |
| class | ChFilterOptixRender |
| ChFilterOptixRender is allowed to set and use the private members. | |
| class | ChOptixEngine |
| ChOptixEngine is allowed to set and use the private members. | |
Constructor & Destructor Documentation
◆ ChOptixSensor()
| CH_SENSOR_API 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.
- 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 of the data the sensor should generate h Height of the data the sensor should generate
Member Function Documentation
◆ RayLaunchParameters()
|
inline |
virtual function for getting any additional render parameters need by the sensor
- Returns
- the list of parameters that need to be passed to the ray launch program of the sensor.
◆ RenderBufferFormat()
|
inline |
virtual function of getting the format for the output buffer
- Returns
- The buffer format type that the sensor uses.
◆ RenderProgramString()
|
inline |
virtual function for getting the string used for generating the ray-laucnh program
- Returns
- The combination of file name and function name that specifies the render program
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_sensor/ChOptixSensor.h
- /builds/uwsbel/chrono/src/chrono_sensor/ChOptixSensor.cpp
