Description

Radar class - corresponds to a FMCW radar.

With OptiX enabled this routes through the OptiX backend. With Vulkan RT enabled and OptiX disabled it keeps the same public API and routes through the Vulkan RT backend, including raw radar and radar point-cloud filters.

#include <ChRadarSensor.h>

Inheritance diagram for chrono::sensor::ChRadarSensor:

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Collaboration diagram for chrono::sensor::ChRadarSensor:

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Public Member Functions
	ChRadarSensor (std::shared_ptr< ChBody > parent, const float updateRate, ChFrame< double > offsetPose, const unsigned int w, const unsigned int h, const float hfov, const float vfov, const float max_distance, const float clip_near=1e-3f)
	Constructor for the base radar class. More...

float	GetHFOV () const
	Gives the horizontal field of view of the radar (angle between right-most and left-most ray for a "frame"). More...

float	GetVFOV () const
	Returns the vertical field of view the radar. More...

float	GetMaxDistance () const
	Returns the maximum range of the radar. More...

float	GetClipNear () const
	Returns the near clipping distance. More...

ChVector3d	GetTranslationalVelocity ()
	Returns the translational velocity of the object the radar is attached to. More...

ChVector3d	GetAngularVelocity ()
	Returns the angular velocity of the object the radar is attached to. More...

Public Member Functions inherited from chrono::sensor::ChSensor
	ChSensor (std::shared_ptr< ChBody > parent, float updateRate, ChFrame< double > offsetPose)
	Constructor for the base sensor class. More...

void	SetOffsetPose (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	PushFilterFront (std::shared_ptr< ChFilter > filter)
	Add a filter to the front of the list on a sensor. More...

void	LockFilterList ()
	Gives ability to lock the filter list to prevent race conditions. More...

unsigned int	GetRngSensorOrdinal () const
	This sensor's registration ordinal within its manager, used to give it RNG streams distinct from every other sensor's. More...

unsigned int	GetRngManagerId () const
	The id of the manager this sensor is registered with. More...

template<class UserBufferType >
UserBufferType	GetMostRecentBuffer ()
	Get the last filter in the list that matches the template type. More...

template<>
CH_SENSOR_API UserAccelBufferPtr	GetMostRecentBuffer ()

Additional Inherited Members
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< ChBody >	m_parent
	object to which the sensor is attached

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

◆ ChRadarSensor()

chrono::sensor::ChRadarSensor::ChRadarSensor	(	std::shared_ptr< ChBody >	parent,
		const float	updateRate,
		ChFrame< double >	offsetPose,
		const unsigned int	w,
		const unsigned int	h,
		const float	hfov,
		const float	vfov,
		const float	max_distance,
		const float	clip_near = `1e-3f`
	)

Constructor for the base radar class.

Parameters

parent	Body to which the sensor is attached
updateRate	the rate at which the sensor will be updated
offsetPose	the relative mounting position of the sensor
w	Width in number of samples of a radar scan
h	Height in number of samples of a radar scan
hfov	Horizontal field of view of the lidar
vfov	vertical angle of the lidar
max_distance	the farthest detectable distance for the radar
clip_near	Near clipping distance so that lidar sensor can be easily placed inside a visualization object (sensor housing)

Member Function Documentation

◆ GetAngularVelocity()

ChVector3d chrono::sensor::ChRadarSensor::GetAngularVelocity ( )

inline

Returns the angular velocity of the object the radar is attached to.

Returns: Returns the angular velocity of the object the radar is attached to

◆ GetClipNear()

float chrono::sensor::ChRadarSensor::GetClipNear ( ) const

inline

Returns the near clipping distance.

Returns: the near clipping distance

◆ GetHFOV()

float chrono::sensor::ChRadarSensor::GetHFOV ( ) const

inline

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

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

Returns: The horizontal field of view of the radar sensor

◆ GetMaxDistance()

float chrono::sensor::ChRadarSensor::GetMaxDistance ( ) const

inline

Returns the maximum range of the radar.

Returns: The maximum distance for the radar

◆ GetTranslationalVelocity()

ChVector3d chrono::sensor::ChRadarSensor::GetTranslationalVelocity ( )

inline

Returns the translational velocity of the object the radar is attached to.

Returns: Returns the translational velocity of the object the radar is attached to

◆ GetVFOV()

float chrono::sensor::ChRadarSensor::GetVFOV ( ) const

inline

Returns the vertical field of view the radar.

Returns: The vertical field of view the radar sensor

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_sensor/sensors/ChRadarSensor.h
/builds/uwsbel/chrono/src/chrono_sensor/sensors/ChRadarSensor.cpp

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChRadarSensor()

Member Function Documentation

◆ GetAngularVelocity()

◆ GetClipNear()

◆ GetHFOV()

◆ GetMaxDistance()

◆ GetTranslationalVelocity()

◆ GetVFOV()