#include <Lidar3D.h>

Inheritance diagram for mvsim::Lidar3D:

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Collaboration diagram for mvsim::Lidar3D:

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Classes
struct	PerHorzAngleLUT

struct	PerRayLUT

Public Member Functions
	Lidar3D (Simulable &parent, const rapidxml::xml_node< char > *root)

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

virtual void	simul_post_timestep (const TSimulContext &context) override

void	simulateOn3DScene (mrpt::opengl::COpenGLScene &gl_scene) override

void	freeOpenGLResources () override

Public Member Functions inherited from mvsim::SensorBase
	SensorBase (Simulable &vehicle)

void	registerOnServer (mvsim::Client &c) override

virtual void	simulateOn3DScene ([[maybe_unused]] mrpt::opengl::COpenGLScene &gl_scene)

double	sensor_period () const

Simulable &	vehicle ()

const Simulable &	vehicle () const

Public Member Functions inherited from mvsim::VisualObject
	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

	VisualObject (const VisualObject &)=delete

VisualObject &	operator= (const VisualObject &)=delete

	VisualObject (VisualObject &&)=delete

VisualObject &	operator= (VisualObject &&)=delete

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	customVisualVisible (const bool visible)

bool	customVisualVisible () const

const std::optional< Shape2p5 > &	collisionShape () const

void	showCollisionShape (bool show)

Public Member Functions inherited from mvsim::Simulable
	Simulable (World *parent)

virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

virtual VisualObject *	meAsVisualObject ()

mrpt::math::TTwist2D	getRefVelocityLocal () const

mrpt::math::TTwist2D	getVelocityLocal () const

mrpt::math::TTwist2D	getRefVelocityGlobal () const

mrpt::math::TTwist2D	getComVelocityGlobal () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only.

mrpt::math::TVector3D	getLinearAcceleration () const

void	setPose (const mrpt::math::TPose3D &p, bool notifyChange=true) const

void	setRefVelocityLocal (const mrpt::math::TTwist2D &dq)

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose()

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose()

const std::string &	getName () const

void	setName (const std::string &s)

bool	isInCollision () const

bool	hadCollision () const

void	resetCollisionFlag ()

const b2Body *	b2d_body () const

b2Body *	b2d_body ()

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

Protected Member Functions
virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

void	notifySimulableSetPose (const mrpt::math::TPose3D &newPose) override

mrpt::math::TPose3D	getRelativePose () const override

void	setRelativePose (const mrpt::math::TPose3D &p) override

Protected Member Functions inherited from mvsim::SensorBase
bool	should_simulate_sensor (const TSimulContext &context)

World *	world ()

const World *	world () const

bool	parseSensorPublish (const rapidxml::xml_node< char > *node, const std::map< std::string, std::string > &varValues)

void	reportNewObservation (const std::shared_ptr< mrpt::obs::CObservation > &obs, const TSimulContext &context)

void	reportNewObservation_lidar_2d (const std::shared_ptr< mrpt::obs::CObservation2DRangeScan > &obs, const TSimulContext &context)

void	make_sure_we_have_a_name (const std::string &prefix)
	Assign a sensible default name/sensor label if none is provided:

Protected Member Functions inherited from mvsim::VisualObject
bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry.

bool	parseVisual (const JointXMLnode<> &rootNode)

void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false, const std::optional< double > &scaleOverride=std::nullopt)

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
mrpt::poses::CPose3D	sensorPoseOnVeh_

double	rangeStdNoise_ = 0.01

bool	ignore_parent_body_ = false

float	viz_pointSize_ = 3.0f

float	minRange_ = 0.01f

float	maxRange_ = 80.0f

double	vertical_fov_ = 30.0
	In degrees !! More...

std::string	vertical_ray_angles_str_

int	vertNumRays_ = 16

int	horzNumRays_ = 180

double	horzResolutionFactor_ = 1.0

double	vertResolutionFactor_ = 1.0

float	maxDepthInterpolationStepVert_ = 0.30f

float	maxDepthInterpolationStepHorz_ = 0.10f

mrpt::obs::CObservationPointCloud::Ptr	last_scan2gui_

mrpt::obs::CObservationPointCloud::Ptr	last_scan_

std::mutex	last_scan_cs_

bool	gui_uptodate_ = false

mrpt::opengl::CPointCloudColoured::Ptr	glPoints_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_corner_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_fov_

std::optional< TSimulContext >	has_to_render_

std::mutex	has_to_render_mtx_

std::shared_ptr< mrpt::opengl::CFBORender >	fbo_renderer_depth_

bool	generateIntensityFromRGB_ = true

std::vector< PerHorzAngleLUT >	lut_

std::vector< double >	vertical_ray_angles_

Protected Attributes inherited from mvsim::SensorBase
Simulable &	vehicle_
	The vehicle this sensor is attached to.

double	sensor_period_ = 0.1

double	sensor_last_timestamp_ = 0

std::string	publishTopic_

std::map< std::string, std::string >	varValues_
	Filled in by SensorBase::loadConfigFrom()

Protected Attributes inherited from mvsim::VisualObject
World *	world_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoViz_ = true

const bool	insertCustomVizIntoPhysical_ = true

Protected Attributes inherited from mvsim::Simulable
std::string	name_

Additional Inherited Members
Public Types inherited from mvsim::SensorBase
using	Ptr = std::shared_ptr< SensorBase >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Static Public Member Functions inherited from mvsim::SensorBase
static SensorBase::Ptr	factory (Simulable &parent, const rapidxml::xml_node< char > *xml_node)

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsOriginViz ()

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsFOVViz ()

static void	RegisterSensorFOVViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

static void	RegisterSensorOriginViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon

Detailed Description

A 3D LiDAR sensor, with 360 degrees horizontal fielf-of-view, and a configurable vertical FOV. The number of rays in the vertical FOV and the number of samples in each horizontal row are configurable.

Member Function Documentation

◆ getRelativePose()

mrpt::math::TPose3D mvsim::Lidar3D::getRelativePose ( ) const

inlineoverrideprotectedvirtual

Like getPose(), but gets the relative pose with respect to the parent object, or just exactly like getPose() (global pose) if this is a top-level entity.

Reimplemented from mvsim::Simulable.

◆ loadConfigFrom()

virtual void mvsim::Lidar3D::loadConfigFrom ( const rapidxml::xml_node< char > * root )

overridevirtual

Loads the parameters common to all sensors. Should be overriden, and they call to this base method.

Reimplemented from mvsim::SensorBase.

◆ setRelativePose()

void mvsim::Lidar3D::setRelativePose ( const mrpt::math::TPose3D & p )

inlineoverrideprotectedvirtual

Changes the relative pose of this object with respect to its parent, or the global frame if its a top-level entity.

Reimplemented from mvsim::Simulable.

◆ simul_post_timestep()

virtual void mvsim::Lidar3D::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented from mvsim::Simulable.

◆ simul_pre_timestep()

virtual void mvsim::Lidar3D::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Member Data Documentation

◆ generateIntensityFromRGB_

bool mvsim::Lidar3D::generateIntensityFromRGB_ = true

protected

If true, intensity values will be generated from the grayscale of the rendered RGB image for each lidar return.

◆ gui_uptodate_

bool mvsim::Lidar3D::gui_uptodate_ = false

protected

Whether gl_scan_ has to be updated upon next call of internalGuiUpdate() from last_scan2gui_

◆ last_scan2gui_

mrpt::obs::CObservationPointCloud::Ptr mvsim::Lidar3D::last_scan2gui_

protected

Last simulated scan

◆ vertical_fov_

double mvsim::Lidar3D::vertical_fov_ = 30.0

protected

In degrees !!

vertical FOV will be symmetric above and below the horizontal line, unless vertical_ray_angles_str_ is set

◆ vertical_ray_angles_

std::vector<double> mvsim::Lidar3D::vertical_ray_angles_

protected

Upon initialization, vertical_rays_str_ is parsed in this vector of angles in radians.

◆ vertical_ray_angles_str_

std::string mvsim::Lidar3D::vertical_ray_angles_str_

protected

If not empty, will define the list of ray vertical angles, in degrees, separated by whitespaces. Positive angles are above, negative below the horizontal plane.

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

/home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/Sensors/Lidar3D.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getRelativePose()

◆ loadConfigFrom()

◆ setRelativePose()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ generateIntensityFromRGB_

◆ gui_uptodate_

◆ last_scan2gui_

◆ vertical_fov_

◆ vertical_ray_angles_

◆ vertical_ray_angles_str_