Description

Namespace for Chrono::Sensor.

Classes
struct	AccelData
	Accelerometer data. More...

struct	Background
	Information about the background of the scene. More...

struct	ByteImageData
	stores image data More...

class	ChAccelerometerSensor
	Accelerometer class. More...

class	ChCameraSensor
	Camera class. More...

class	ChDepthCamera
	Camera class. More...

class	ChDynamicsManager
	class for managing dynamic sensors. More...

class	ChFilter
	Base class for all filters that can be applied to a sensor after initial rendering. More...

class	ChFilterAccelerometerUpdate
	Class for generating IMU data. More...

class	ChFilterAccess
	Filter for accessing data from the sensor. More...

class	ChFilterCameraNoiseConstNormal
	A filter that adds Gaussian noise across an image with constant mean and standard deviation. More...

class	ChFilterCameraNoisePixDep
	A filter that adds pixel dependent gaussian noise across an image. Method summarized in paper: () More...

class	ChFilterDepthToRGBA8
	A filter that converts Depth values to RGBA8. More...

class	ChFilterGPSUpdate
	Class for generating GPS data for a GPS sensor. More...

class	ChFilterGrayscale
	A filter that, when applied to a sensor, changes the RGB buffer to grayscale. More...

class	ChFilterGyroscopeUpdate
	Class for generating IMU data. More...

class	ChFilterImageHalf4ToRGBA8
	A filter that converts RGBA Float4 to RGBA8. More...

class	ChFilterImageResize
	A filter that, when applied to a sensor, resizes the image to the specified dimensions. More...

class	ChFilterImgAlias
	A filter that, when applied to a sensor, reduces the resolution for antialiasing. More...

class	ChFilterLidarNoiseXYZI
	A filter that adds noise based on depth and intensity given data in point cloud format. More...

class	ChFilterMagnetometerUpdate
	Class for generating IMU data. More...

class	ChFilterONNX
	A filter that processes data through a pre-trained neural network, based on ONNX format. More...

class	ChFilterOptixRender
	A filter that generates data for a ChOptixSensor. More...

class	ChFilterPCfromDepth
	A filter that, when applied to a sensor, generates point cloud data from depth values. More...

class	ChFilterRadarProcess
	A filter that, when applied to a sensor, converts the depth values to pointcloud, clusters, and calculates velocity and centroid. More...

class	ChFilterRadarSavePC
	A filter that, when applied to a sensor, saves point cloud data. More...

class	ChFilterSave
	A filter that, when applied to a sensor, saves the data as an image. More...

class	ChFilterSavePtCloud
	A filter that, when applied to a sensor, saves point cloud data. More...

class	ChFilterUFF
	A filter that processes data through a pre-trained neural network, based on UFF format. More...

class	ChFilterVisualize
	A filter that, when applied to a sensor, creates a GUI window to visualize the sensor (using GLFW). More...

class	ChFilterVisualizePointCloud
	A filter that, when applied to a sensor, creates a GUI window to visualize the sensor (using GLFW). More...

class	ChGPSSensor
	GPS class. More...

class	ChGyroscopeSensor
	Gyroscope class. More...

class	ChLidarSensor
	Lidar class. This corresponds to a scanning lidar. More...

class	ChMagnetometerSensor
	Magnetometer class. More...

class	ChNoiseModel
	Noise model base class. More...

class	ChNoiseNone
	Noise model: no noise. More...

class	ChNoiseNormalDrift
	IMU Noise model: gaussian drifting noise with noncorrelated equal distributions. More...

class	ChNoiseRandomWalks
	GPS Noise model based on Random Walks. More...

class	ChOptixEngine
	Optix Engine that is responsible for managing all render-based sensors. More...

class	ChOptixGeometry
	Optix Geometry class that is responsible for managing all geometric information in the optix scene This handles the acceleration structure and transforms. More...

class	ChOptixPipeline
	Class to hold all the Shader Binding Table parameters adnd manage the ray tracing pipeline, materials, ray gen programs. More...

class	ChOptixSensor
	Optix sensor class - the base class for all sensors that interface with OptiX to generate and render their data. More...

class	ChRadarSensor
	Radar Class/ This corresponds to a fmcw radar. More...

class	ChScene
	Scene class used for camera renderings. Includes environment colors, lights, etc. More...

class	ChSegmentationCamera
	Camera class. More...

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

class	ChSensorManager
	class for managing sensors. This is the Sensor system class. More...

class	ChTachometerSensor
	Tachometer class. This class queries the chrono system for the angular velocity of the parent body. More...

struct	GPSData
	GPS data in generic format. More...

struct	GyroData
	Gyroscope data. More...

class	Logger
	Inference Logger for TensorRT. More...

struct	MagnetData
	Magnetometer data. More...

struct	PixelDI
	Depth and intensity data in generic format. More...

struct	PixelFloat4
	A pixel as defined by RGBA float4 format. More...

struct	PixelHalf4
	A pixel as defined by RGBA float4 format. More...

struct	PixelRGBA8
	A pixel as defined by RGBA 8bpp format. More...

struct	PixelSemantic
	A pixel as defined for semantic segmentation. More...

struct	PixelXYZI
	Point cloud and intensity data in generic format. More...

struct	ProgramString
	holds string values for ptx file and ray generation program More...

class	Sensor
	Sensor class for constructing sensors from a JSON specification file. More...

struct	SensorBuffer
	The base buffer class that contains sensor data (contains meta data of the buffer and pointer to raw data) More...

struct	SensorBufferT
	Base class of 2D buffers. More...

struct	Transform
	Transform struct for packing a translation, rotation, and scale. More...

struct	TRTDestroyer
	destructor for tensorRT pointers More...

Typedefs
using	ChFilterR8Access = ChFilterAccess< SensorHostR8Buffer, UserR8BufferPtr >
	Access to greyscale data.

using	ChFilterRGBA8Access = ChFilterAccess< SensorHostRGBA8Buffer, UserRGBA8BufferPtr >
	Access to RGBA8 data.

using	ChFilterSemanticAccess = ChFilterAccess< SensorHostSemanticBuffer, UserSemanticBufferPtr >
	Access to semantic image.

using	ChFilterXYZIAccess = ChFilterAccess< SensorHostXYZIBuffer, UserXYZIBufferPtr >
	Access to point cloud data.

using	ChFilterDIAccess = ChFilterAccess< SensorHostDIBuffer, UserDIBufferPtr >
	Access to depth/intensity data.

using	ChFilterAccelAccess = ChFilterAccess< SensorHostAccelBuffer, UserAccelBufferPtr >
	Access to accelerometer data.

using	ChFilterGyroAccess = ChFilterAccess< SensorHostGyroBuffer, UserGyroBufferPtr >
	Access to gyroscope data.

using	ChFilterMagnetAccess = ChFilterAccess< SensorHostMagnetBuffer, UserMagnetBufferPtr >
	Access to magnetometer data.

using	ChFilterGPSAccess = ChFilterAccess< SensorHostGPSBuffer, UserGPSBufferPtr >
	Access to GPS data.

using	ChFilterRadarAccess = ChFilterAccess< SensorHostRadarBuffer, UserRadarBufferPtr >
	Access to Radar data.

using	ChFilterRadarXYZAccess = ChFilterAccess< SensorHostRadarXYZBuffer, UserRadarXYZBufferPtr >
	Access to Processed Radar data.

using	ChFilterTachometerAccess = ChFilterAccess< SensorHostTachometerBuffer, UserTachometerBufferPtr >
	Access to Tachoemter data.

using	ChFilterDepthAccess = ChFilterAccess< SensorHostDepthBuffer, UserDepthBufferPtr >
	Access to Encoder data. More...

using	SensorHostFloat4Buffer = SensorBufferT< std::shared_ptr< PixelFloat4[]> >
	RGBA host buffer to be used for managing data on the host.

using	DeviceFloat4BufferPtr = std::shared_ptr< PixelFloat4[]>
	RGBA device buffer to be used by camera filters in the graph.

using	SensorDeviceFloat4Buffer = SensorBufferT< DeviceFloat4BufferPtr >
	Sensor buffer wrapper of a DeviceFloat4BufferPtr.

using	UserFloat4BufferPtr = std::shared_ptr< SensorHostFloat4Buffer >
	pointer to an RGBA image on the host that has been moved for safety and can be given to the user

using	SensorHostHalf4Buffer = SensorBufferT< std::shared_ptr< PixelHalf4[]> >
	RGBA host buffer to be used for managing data on the host.

using	DeviceHalf4BufferPtr = std::shared_ptr< PixelHalf4[]>
	RGBA device buffer to be used by camera filters in the graph.

using	SensorDeviceHalf4Buffer = SensorBufferT< DeviceHalf4BufferPtr >
	Sensor buffer wrapper of a DeviceHalf4BufferPtr.

using	UserHalf4BufferPtr = std::shared_ptr< SensorHostHalf4Buffer >
	pointer to an RGBA image on the host that has been moved for safety and can be given to the user

using	SensorHostRGBA8Buffer = SensorBufferT< std::shared_ptr< PixelRGBA8[]> >
	RGBA host buffer to be used for managing data on the host.

using	DeviceRGBA8BufferPtr = std::shared_ptr< PixelRGBA8[]>
	RGBA device buffer to be used by camera filters in the graph.

using	SensorDeviceRGBA8Buffer = SensorBufferT< DeviceRGBA8BufferPtr >
	Sensor buffer wrapper of a DeviceRGBA8BufferPtr.

using	UserRGBA8BufferPtr = std::shared_ptr< SensorHostRGBA8Buffer >
	pointer to an RGBA image on the host that has been moved for safety and can be given to the user

using	SensorHostR8Buffer = SensorBufferT< std::shared_ptr< char[]> >
	Greyscale host buffer to be used by camera filters in the graph.

using	DeviceR8BufferPtr = std::shared_ptr< char[]>
	Greyscale device buffer to be used by camera filters in the graph.

using	SensorDeviceR8Buffer = SensorBufferT< DeviceR8BufferPtr >
	Sensor buffer wrapper of a DeviceR8BufferPtr.

using	UserR8BufferPtr = std::shared_ptr< SensorHostR8Buffer >
	pointer to a greyscale image on the host that has been moved for safety and can be given to the user

using	SensorHostSemanticBuffer = SensorBufferT< std::shared_ptr< PixelSemantic[]> >
	Semantic host buffer to be used for managing data on the host.

using	DeviceSemanticBufferPtr = std::shared_ptr< PixelSemantic[]>
	Semantic device buffer to be used by segmenation camera.

using	SensorDeviceSemanticBuffer = SensorBufferT< DeviceSemanticBufferPtr >
	Sensor buffer wrapper of a DeviceSemanticBufferPtr.

using	UserSemanticBufferPtr = std::shared_ptr< SensorHostSemanticBuffer >
	pointer to an semantic image on the host that has been moved for safety and can be given to the user

using	SensorHostDepthBuffer = SensorBufferT< std::shared_ptr< PixelDepth[]> >

using	DeviceDepthBufferPtr = std::shared_ptr< PixelDepth[]>

using	SensorDeviceDepthBuffer = SensorBufferT< DeviceDepthBufferPtr >

using	UserDepthBufferPtr = std::shared_ptr< SensorHostDepthBuffer >

using	SensorHostRadarBuffer = RadarBufferT< std::shared_ptr< RadarReturn[]> >
	host buffer to be used by radar filters in the graph

using	DeviceRadarBufferPtr = std::shared_ptr< RadarReturn[]>
	device buffer to be used by radar filters in the graph

using	SensorDeviceRadarBuffer = RadarBufferT< DeviceRadarBufferPtr >
	Sensor buffer wrapper of a DeviceRadarBufferPtr.

using	UserRadarBufferPtr = std::shared_ptr< SensorHostRadarBuffer >
	pointer to a radar buffer on the host that has been moved for safety and can be given to the user

using	SensorHostRadarXYZBuffer = RadarBufferT< std::shared_ptr< RadarXYZReturn[]> >

using	DeviceRadarXYZBufferPtr = std::shared_ptr< RadarXYZReturn[]>

using	SensorDeviceRadarXYZBuffer = RadarBufferT< DeviceRadarXYZBufferPtr >

using	UserRadarXYZBufferPtr = std::shared_ptr< SensorHostRadarXYZBuffer >

using	SensorHostDIBuffer = LidarBufferT< std::shared_ptr< PixelDI[]> >
	Depth-intensity host buffer to be used by lidar filters in the graph.

using	DeviceDIBufferPtr = std::shared_ptr< PixelDI[]>
	Depth-intensity device buffer to be used by lidar filters in the graph.

using	SensorDeviceDIBuffer = LidarBufferT< DeviceDIBufferPtr >
	Sensor buffer wrapper of a DeviceDIBufferPtr.

using	UserDIBufferPtr = std::shared_ptr< SensorHostDIBuffer >
	pointer to a depth-intensity buffer on the host that has been moved for safety and can be given to the user

using	SensorHostXYZIBuffer = LidarBufferT< std::shared_ptr< PixelXYZI[]> >
	Point cloud host buffer to be used by lidar filters in the graph.

using	DeviceXYZIBufferPtr = std::shared_ptr< PixelXYZI[]>
	Point cloud device buffer to be used by lidar filters in the graph.

using	SensorDeviceXYZIBuffer = LidarBufferT< DeviceXYZIBufferPtr >
	Sensor buffer wrapper of a DeviceXYZIBufferPtr.

using	UserXYZIBufferPtr = std::shared_ptr< SensorHostXYZIBuffer >
	pointer to a point cloud buffer on the host that has been moved for safety and can be given to the user

using	SensorHostAccelBuffer = SensorBufferT< std::shared_ptr< AccelData[]> >
	acclerometer host buffer to be used by acclerometer filters in the graph

using	UserAccelBufferPtr = std::shared_ptr< SensorHostAccelBuffer >
	pointer to an acclerometer buffer on the host that has been moved for safety and can be given to the user

using	SensorHostGyroBuffer = SensorBufferT< std::shared_ptr< GyroData[]> >
	acclerometer host buffer to be used by acclerometer filters in the graph

using	UserGyroBufferPtr = std::shared_ptr< SensorHostGyroBuffer >
	pointer to an acclerometer buffer on the host that has been moved for safety and can be given to the user

using	SensorHostMagnetBuffer = SensorBufferT< std::shared_ptr< MagnetData[]> >
	acclerometer host buffer to be used by acclerometer filters in the graph

using	UserMagnetBufferPtr = std::shared_ptr< SensorHostMagnetBuffer >
	pointer to an acclerometer buffer on the host that has been moved for safety and can be given to the user

using	SensorHostTachometerBuffer = SensorBufferT< std::shared_ptr< TachometerData[]> >
	tachometer host buffer to be used by tachometer filters in the graph

using	UserTachometerBufferPtr = std::shared_ptr< SensorHostTachometerBuffer >
	pointer to a tachometer buffer on the host that has been moved for safety and can be given to the user

using	SensorHostGPSBuffer = SensorBufferT< std::shared_ptr< GPSData[]> >
	GPS host buffer to be used by GPS filters in the graph.

using	UserGPSBufferPtr = std::shared_ptr< SensorHostGPSBuffer >
	pointer to a GPS buffer on the host that has been moved for safety and can be given to the user

Enumerations
enum	PipelineType { PipelineType::CAMERA, PipelineType::SEGMENTATION, DEPTH_CAMERA, PipelineType::LIDAR_SINGLE, PipelineType::LIDAR_MULTI, PipelineType::RADAR }
	The type of ray tracing used to model the sensor. More...

enum	LidarReturnMode { LidarReturnMode::STRONGEST_RETURN, LidarReturnMode::MEAN_RETURN, LidarReturnMode::FIRST_RETURN, LidarReturnMode::LAST_RETURN, LidarReturnMode::DUAL_RETURN }
	Lidar return mode when multiple objects are seen. More...

enum	Axis { X, Y, Z }

enum	LoggerVerbosity { NONE, PARTIAL, ALL }
	Logger verbosity enumerator. More...

Functions
void	cuda_camera_noise_const_normal (unsigned char bufPtr, int width, int height, float mean, float stdev, curandState_t rng, CUstream &stream)
	Kernel for applying uniform Gaussian noise to an image. More...

void	cuda_camera_noise_pixel_dependent (unsigned char bufPtr, int width, int height, float variance_slope, float variance_intercept, curandState_t rng, CUstream &stream)
	Kernel for applying pixel dependent Gaussian noise to an image. More...

__global__ void	init_random_states (unsigned int seed, curandState_t *rng_states, int n_generators)
	Device function for initialing random values for cuRAND. More...

void	init_cuda_rng (unsigned int seed, curandState_t *rng_states, int n_generators)
	Host function for initialing random values for cuRAND. More...

void	cuda_grayscale (void bufRGBA, void bufOut, int width, int height, CUstream &stream)
	RGB 8 bpp image of uchar to greyscale image conversion. More...

void	cuda_image_alias (void bufIn, void bufOut, int w_out, int h_out, int factor, int pix_size, CUstream &stream)
	An antialiasing helper function that reduces image quality by performing mean reduction of image. More...

void	cuda_image_alias_float (void bufIn, void bufOut, int w_out, int h_out, int factor, int pix_size, CUstream &stream)
	An antialiasing helper function that reduces image quality by performing mean reduction of image. More...

void	cuda_image_gauss_blur_char (void *buf, int w, int h, int c, int factor, CUstream &stream)
	An image blurring function that reduces performs Gaussian blur. More...

void	cuda_image_half4_to_uchar4 (void bufIn, void bufOut, int w, int h, CUstream &stream)
	Conversion from half4 to uchar4. More...

void	cuda_depth_to_uchar4 (void bufIn, void bufOut, int w, int h, CUstream &stream)
	Conversion from float depth value to uchar4. More...

void	cuda_lidar_clip (float *buf, int width, int height, float threshold, float default_dist, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...

void	cuda_lidar_noise_normal (float bufPtr, int width, int height, float stdev_range, float stdev_v_angle, float stdev_h_angle, float stdev_intensity, curandState_t rng, CUstream &stream)
	Function for applying Gaussian noise to raw ground truth lidar data. More...

void	cuda_lidar_mean_reduce (void bufIn, void bufOut, int width, int height, int radius, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...

void	cuda_lidar_strong_reduce (void bufIn, void bufOut, int width, int height, int radius, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...

void	cuda_lidar_first_reduce (void bufIn, void bufOut, int width, int height, int radius, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...

void	cuda_lidar_dual_reduce (void bufIn, void bufOut, int width, int height, int radius, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...

void	preprocess_RGBA8_to_FLOAT3 (void bufIn, void bufOut, int h, int w)
	Function that converts uchar RGBA8 image to float3 image. More...

void	preprocess_RGBA8_to_FLOAT4 (void bufIn, void bufOut, int num_entries)
	Function that converts uchar RGBA8 image to float4 image. More...

void	postprocess_FLOAT4_to_RGBA8 (void bufIn, void bufOut, int num_entries)
	Function that converts float4 image to uchar RGBA8 image. More...

void	preprocess_RGBA8_to_FLOAT4_CHW (void bufIn, void bufOut, int c, int h, int w)
	Function that converts uchar RGBA8 image to float4 image with channels first. More...

void	preprocess_normalize_float (void *bufIn, float add, float mult, int c, int h, int w)
	Function that normalized input data in float format. More...

void	postprocess_FLOAT4_to_RGBA8_CHW (void bufIn, void bufOut, int c, int h, int w)
	Function that converts float4 image to uchar RGBA8 image with channels first. More...

void	cuda_pointcloud_from_depth (void bufDI, void bufOut, int width, int height, float hfov, float max_v_angle, float min_v_angle, CUstream &stream)
	Converts depth data to point cloud data for a lidar. More...

void	cuda_pointcloud_from_depth_dual_return (void bufDI, void bufOut, int width, int height, float hfov, float max_v_angle, float min_v_angle, CUstream &stream)
	Converts depth data to point cloud data for a lidar when the mode is dual return. More...

void	cuda_radar_angles (void bufIn, void bufOut, int width, int height, float hfov, float vfov, CUstream &stream)

void	cuda_radar_pointcloud_from_angles (void bufIn, void bufOut, int width, int height, float hfov, float vfov, CUstream &stream)

void	cuda_radar_pointcloud_from_depth (void bufDI, void bufOut, int width, int height, float hfov, float vfov, CUstream &stream)

void	SetSensorShaderDir (const std::string &path)

void	GetShaderFromFile (OptixDeviceContext context, OptixModule &module, const std::string &file_name, OptixModuleCompileOptions &module_compile_options, OptixPipelineCompileOptions &pipeline_compile_options)
	launches ray generation program More...

void	optix_log_callback (unsigned int level, const char tag, const char message, void *)

ByteImageData	LoadByteImage (const std::string &filename)
	loads image to struct ByteImageData, returns an empty struct with 0 values if loading failed More...

void	Cartesian2GPS (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating Cartesian coordinates from GPS coordinates given the simulation's reference point. More...

void	GPS2Cartesian (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating GPS coordinates from Cartesian coordinates given the simulation's reference point. More...

void	Cartesian2ENU (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating East-North-Up (ENU) coordinates from Cartesian coordinates given the simulation's reference point. More...

void	ENU2Cartesian (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating Cartesian coordinates from ENU coordinates given the simulation's reference point. More...

void	GPS2ENU (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating ENU coordinates from GPS coordinates given the simulation's reference point. More...

void	ENU2GPS (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating GPS coordinates from ENU coordinates given the simulation's reference point. More...

void	ReadFileJSON (const std::string &filename, Document &d)

ChVector3d	ReadVectorJSON (const Value &a)

ChQuaternion	ReadQuaternionJSON (const Value &a)

ChFrame	ReadFrameJSON (const Value &a)

std::shared_ptr< ChSensor >	ReadSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a sensor from the specified JSON file. More...

std::shared_ptr< ChCameraSensor >	ReadCameraSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a camera sensor from the specified JSON file. More...

std::shared_ptr< ChGPSSensor >	ReadGPSSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a gps sensor from the specified JSON file. More...

std::shared_ptr< ChAccelerometerSensor >	ReadAccelerometerSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a accelerometer sensor from the specified JSON file. More...

std::shared_ptr< ChGyroscopeSensor >	ReadGyroscopeSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a gyroscope sensor from the specified JSON file. More...

std::shared_ptr< ChMagnetometerSensor >	ReadMagnetometerSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a magnetometer sensor from the specified JSON file. More...

std::shared_ptr< ChLidarSensor >	ReadLidarSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a lidar sensor from the specified JSON file. More...

std::shared_ptr< ChRadarSensor >	ReadRadarSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a radar sensor from the specified JSON file. More...

void	ReadFilterListJSON (const std::string &filename, std::shared_ptr< ChSensor > sensor)
	Load and return a sensor filter list from the specified JSON file. More...

std::shared_ptr< ChFilter >	CreateFilterJSON (const Value &value)

std::shared_ptr< ChNoiseModel >	CreateNoiseJSON (const Value &value)

std::string	GetStringMemberWithDefault (const Value &value, const char member, const char def)

CH_SENSOR_API void	ReadFileJSON (const std::string &filename, rapidjson::Document &d)
	Load and return a RapidJSON document from the specified file. More...

CH_SENSOR_API ChVector3d	ReadVectorJSON (const rapidjson::Value &a)
	Load and return a ChVector3d from the specified JSON array. More...

CH_SENSOR_API ChQuaternion	ReadQuaternionJSON (const rapidjson::Value &a)
	Load and return a ChQuaternion from the specified JSON array. More...

CH_SENSOR_API ChFrame	ReadFrameJSON (const rapidjson::Value &a)
	Load and return a ChFrame from the specified JSON array. More...

CH_SENSOR_API std::shared_ptr< ChFilter >	CreateFilterJSON (const rapidjson::Value &value)
	Load and return a sensor filter from the specified JSON value. More...

CH_SENSOR_API std::shared_ptr< ChNoiseModel >	CreateNoiseJSON (const rapidjson::Value &value)
	Load and return a noise model from the specified JSON value. More...

CH_SENSOR_API std::string	GetStringMemberWithDefault (const rapidjson::Value &value, const char member, const char def="")
	Load and return a std::string from the specified JSON value Will check if member exists and returns if it does, def if not. More...

template<class T >
T *	cudaMallocHelper (unsigned int size)
	Function for creating a chunk of memory that will implicitely desconstruct itself. More...

template<class T >
void	cudaFreeHelper (T *ptr)
	The desconstructor that will be called to free memory from the device pointer. More...

template<class T >
T *	cudaHostMallocHelper (unsigned int size)
	Function for creating a chunk of memory that will implicitely desconstruct itself. More...

template<class T >
void	cudaHostFreeHelper (T *ptr)
	The desconstructor that will be called to free memory from the device pointer. More...

Variables
const char	ChFilterR8AccessName [] = "ChFilterR8Access"
	global constanst for use in template parameters

const char	ChFilterRGBA8AccessName [] = "ChFilterRGBA8Access"
	single channel 8 bit array

const char	ChFilterDIAccessName [] = "ChFilterDIAccess"
	4 channel 8 bit array

const char	ChFilterXYZIAccessName [] = "ChFilterXYZIAccess"
	2 channel float array (Depth+Intenisty)

const char	ChFilterAccelAccessName [] = "ChFilterAccelAccess"
	4 channel float array (XYZ positions+Intensity)

const char	ChFilterGyroAccessName [] = "ChFilterGyroAccess"
	Accelerometer data format (3 doubles total)

const char	ChFilterMagnetAccessName [] = "ChFilterMagnetAccess"
	Gyroscope data format (3 doubles total)

const char	ChFilterGPSAccessName [] = "ChFilterGPSAccess"
	Magnetometer data format (3 doubles total)

const char	ChFilterRadarAccessName [] = "ChFilterRadarAccess"
	GPS data format (4 doubles total)

const char	ChFilterRadarXYZAccessName [] = "ChFilterRadarXYZAccess"

const char	ChFilterTachometerAccessName [] = "ChFilterTachometerAccess"

const char	ChFilterDepthAccessName [] = "ChFilterDepthAccess"

Function Documentation

◆ Cartesian2ENU()

CH_SENSOR_API void chrono::sensor::Cartesian2ENU	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating East-North-Up (ENU) coordinates from Cartesian coordinates given the simulation's reference point.

Parameters

coords	The ENU coordinates to be modified. This ChVector is modified and used as output
ref	The simulation's reference location

◆ Cartesian2GPS()

CH_SENSOR_API void chrono::sensor::Cartesian2GPS	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating Cartesian coordinates from GPS coordinates given the simulation's reference point.

Parameters

coords	The Cartisian coordinates to be modified. This vector is modified and used as output
ref	The simulation's reference location

◆ ENU2Cartesian()

CH_SENSOR_API void chrono::sensor::ENU2Cartesian	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating Cartesian coordinates from ENU coordinates given the simulation's reference point.

Parameters

coords	The Cartesian coordinates to be modified. This ChVector is modified and used as output
ref	The simulation's reference location

◆ ENU2GPS()

CH_SENSOR_API void chrono::sensor::ENU2GPS	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating GPS coordinates from ENU coordinates given the simulation's reference point.

Parameters

coords	The GPS coordinates to be modified. This ChVector is modified and used as output
ref	The simulation's reference location

◆ GPS2Cartesian()

CH_SENSOR_API void chrono::sensor::GPS2Cartesian	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating GPS coordinates from Cartesian coordinates given the simulation's reference point.

Parameters

coords	The GPS coordinates to be modified. This vector is modified and used as output
ref	The simulation's reference location

◆ GPS2ENU()

CH_SENSOR_API void chrono::sensor::GPS2ENU	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating ENU coordinates from GPS coordinates given the simulation's reference point.

Parameters

coords	The ENU coordinates to be modified. This ChVector is modified and used as output
ref	The simulation's reference location

Description

Classes

Typedefs

Enumerations

Functions

Variables

Function Documentation

◆ Cartesian2ENU()

◆ Cartesian2GPS()

◆ ENU2Cartesian()

◆ ENU2GPS()

◆ GPS2Cartesian()

◆ GPS2ENU()