Base implementation of a Lidar Visual. More...

#include <BaseLidarVisual.hh>

Public Member Functions
virtual	~BaseLidarVisual ()

virtual void	ClearPoints () override
	Clear the points of the lidar visual. More...

virtual void	CreateMaterials ()
	Create predefined materials for lidar visual. More...

virtual void	Destroy () override
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. More...

virtual bool	DisplayNonHitting () const override
	Get if non-hitting rays will be displayed. More...

virtual unsigned int	HorizontalRayCount () const override
	Get number of horizontal rays. More...

virtual void	Init () override

virtual double	MaxHorizontalAngle () const override
	Get maximum horizontal angle. More...

virtual double	MaxRange () const override
	Get maximum range of lidar rays. More...

virtual double	MaxVerticalAngle () const override
	Get minimum vertical angle. More...

virtual double	MinHorizontalAngle () const override
	Get minimum horizontal angle. More...

virtual double	MinRange () const override
	Get minimum range of lidar rays. More...

virtual double	MinVerticalAngle () const override
	Get minimum vertical angle. More...

virtual gz::math::Pose3d	Offset () const override
	Get offset of visual. More...

virtual unsigned int	PointCount () const override
	Get number of points in laser data. More...

virtual std::vector< double >	Points () const override
	Get the points in laser data. More...

virtual void	PreRender () override
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...

virtual void	SetDisplayNonHitting (bool _display) override
	Set if non-hitting rays will be displayed (this does not work for TRIANGLE_STRIPS visual) More...

virtual void	SetHorizontalRayCount (unsigned int _horizontalRayCount) override
	Set number of horizontal rays. More...

virtual void	SetMaxHorizontalAngle (double _maxHorizontalAngle) override
	Set maximum horizontal angle. More...

virtual void	SetMaxRange (double _maxRange) override
	Set maximum range of lidar rays. More...

virtual void	SetMaxVerticalAngle (double _maxVerticalAngle) override
	Set maximum vertical angle. More...

virtual void	SetMinHorizontalAngle (double _minHorizontalAngle) override
	Set minimum horizontal angle. More...

virtual void	SetMinRange (double _minRange) override
	Set minimum range of lidar rays. More...

virtual void	SetMinVerticalAngle (double _minVerticalAngle) override
	Set minimum vertical angle. More...

virtual void	SetOffset (const gz::math::Pose3d _offset) override
	Set offset of visual. More...

virtual void	SetPoints (const std::vector< double > &_points) override
	Set lidar points to be visualised. More...

virtual void	SetPoints (const std::vector< double > &_points, const std::vector< gz::math::Color > &_colors) override
	Set lidar points to be visualised. More...

virtual void	SetSize (double _size) override
	Set size of the lidar visualization, e.g. size of rasterized lidar points in pixels. More...

virtual void	SetType (const LidarVisualType _type) override
	Set type for lidar visual. More...

virtual void	SetVerticalRayCount (unsigned int _verticalRayCount) override
	Set number of vertical rays. More...

virtual double	Size () const override
	Get size of the lidar visualization. More...

virtual LidarVisualType	Type () const override
	Get the type for lidar visual. More...

virtual void	Update () override
	Update the Visual. More...

virtual unsigned int	VerticalRayCount () const override
	Get number of vertical rays. More...

Public Member Functions inherited from LidarVisual
virtual	~LidarVisual ()
	Destructor. More...

Public Member Functions inherited from Visual
virtual	~Visual ()
	Destructor. More...

virtual void	AddGeometry (GeometryPtr _geometry)=0
	Add the given geometry to this visual. If the given node is already attached, no work will be done. More...

virtual void	AddVisibilityFlags (uint32_t _flags)=0
	Add visibility flags. More...

virtual gz::math::AxisAlignedBox	BoundingBox () const =0
	Get the bounding box in world frame coordinates. More...

virtual VisualPtr	Clone (const std::string &_name, NodePtr _newParent) const =0
	Clone the visual (and its children) with a new name. More...

virtual GeometryPtr	GeometryByIndex (unsigned int _index) const =0
	Get geometry at given index. If no geometry exists at given index, NULL will be returned. More...

virtual unsigned int	GeometryCount () const =0
	Get the number of geometries attached to this visual. More...

virtual bool	HasGeometry (ConstGeometryPtr _geometry) const =0
	Determine if given geometry is attached to this visual. More...

virtual gz::math::AxisAlignedBox	LocalBoundingBox () const =0
	Get the local bounding box of the visual. More...

virtual MaterialPtr	Material () const =0
	Get the material assigned to attached visuals and geometries. More...

virtual void	RemoveGeometries ()=0
	Remove all attached geometries from this visual. More...

virtual GeometryPtr	RemoveGeometry (GeometryPtr _geometry)=0
	Remove the given geometry from this visual. If the given node is not a child of this visual, no work will be done. More...

virtual GeometryPtr	RemoveGeometryByIndex (unsigned int _index)=0
	Remove the geometry at the given index from this visual. If the specified node is not attached this visual, no work will be done. More...

virtual void	RemoveVisibilityFlags (uint32_t _flags)=0
	Remove visibility flags. More...

virtual void	SetChildMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached visuals only. More...

virtual void	SetGeometryMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached geometries only. More...

virtual void	SetMaterial (const std::string &_name, bool _unique=true)=0
	Set the material for all attached visuals and geometries. The specified material will be retrieved from Scene::Material using the given material name. If no material is registered with the given name, no work will be done. More...

virtual void	SetMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached visuals and geometries. More...

virtual void	SetVisibilityFlags (uint32_t _flags)=0
	Set visibility flags. More...

virtual void	SetVisible (bool _visible)=0
	Specify if this visual is visible. More...

virtual void	SetWireframe (bool _show)=0
	Enable or disable wireframe. More...

virtual uint32_t	VisibilityFlags () const =0
	Get visibility flags. More...

virtual bool	Wireframe () const =0
	Get whether wireframe is enabled for this visual. More...

Public Member Functions inherited from Node
virtual	~Node ()
	Destructor. More...

virtual void	AddChild (NodePtr _child)=0
	Add the given node to this node. If the given node is already a child, no work will be done. More...

virtual NodePtr	ChildById (unsigned int _id) const =0
	Get node with given ID. If no child exists with given ID, NULL will be returned. More...

virtual NodePtr	ChildByIndex (unsigned int _index) const =0
	Get node at given index. If no child exists at given index, NULL will be returned. More...

virtual NodePtr	ChildByName (const std::string &_name) const =0
	Get node with given name. If no child exists with given name, NULL will be returned. More...

virtual unsigned int	ChildCount () const =0
	Get number of child nodes. More...

virtual bool	HasChild (ConstNodePtr _child) const =0
	Determine if given node is an attached child. More...

virtual bool	HasChildId (unsigned int _id) const =0
	Determine if node with given ID is an attached child. More...

virtual bool	HasChildName (const std::string &_name) const =0
	Determine if node with given name is an attached child. More...

virtual bool	HasParent () const =0
	Determine if this Node is attached to another Node. More...

virtual bool	HasUserData (const std::string &_key) const =0
	Check if node has custom data. More...

virtual bool	InheritScale () const =0
	Determine if this node inherits scale from this parent. More...

virtual math::Pose3d	InitialLocalPose () const =0
	Get the initial local pose. More...

virtual math::Pose3d	LocalPose () const =0
	Get the local pose. More...

virtual math::Vector3d	LocalPosition () const =0
	Get the local position. More...

virtual math::Quaterniond	LocalRotation () const =0
	Get the local rotation. More...

virtual math::Vector3d	LocalScale () const =0
	Get the local scale. More...

virtual math::Vector3d	Origin () const =0
	Get position of origin. More...

virtual NodePtr	Parent () const =0
	Get the parent Node. More...

virtual NodePtr	RemoveChild (NodePtr _child)=0
	Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildById (unsigned int _id)=0
	Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByIndex (unsigned int _index)=0
	Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByName (const std::string &_name)=0
	Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done. More...

virtual void	RemoveChildren ()=0
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...

virtual void	RemoveParent ()=0
	Detach this Node from its parent. If this Node does not have a parent, no work will be done. More...

virtual void	Scale (const math::Vector3d &_scale)=0
	Scale the current scale by the given scalars. More...

virtual void	Scale (double _scale)=0
	Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates. More...

virtual void	Scale (double _x, double _y, double _z)=0
	Scale the current scale by the given scalars. More...

virtual void	SetInheritScale (bool _inherit)=0
	Specify if this node inherits scale from its parent. More...

virtual void	SetLocalPose (const math::Pose3d &_pose)=0
	Set the local pose. More...

virtual void	SetLocalPosition (const math::Vector3d &_position)=0
	Set the local position. More...

virtual void	SetLocalPosition (double _x, double _y, double _z)=0
	Set the local position. More...

virtual void	SetLocalRotation (const math::Quaterniond &_rotation)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _r, double _p, double _y)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _w, double _x, double _y, double _z)=0
	Set the local rotation. More...

virtual void	SetLocalScale (const math::Vector3d &_scale)=0
	Set the local scale. More...

virtual void	SetLocalScale (double _scale)=0
	Set the local scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetLocalScale (double _x, double _y, double _z)=0
	Set the local scale. More...

virtual void	SetOrigin (const math::Vector3d &_origin)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetOrigin (double _x, double _y, double _z)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetUserData (const std::string &_key, Variant _value)=0
	Store any custom data associated with this node. More...

virtual void	SetWorldPose (const math::Pose3d &_pose)=0
	Set the world pose. More...

virtual void	SetWorldPosition (const math::Vector3d &_position)=0
	Set the world position. More...

virtual void	SetWorldPosition (double _x, double _y, double _z)=0
	Set the world position. More...

virtual void	SetWorldRotation (const math::Quaterniond &_rotation)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _r, double _p, double _y)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _w, double _x, double _y, double _z)=0
	Set the world rotation. More...

virtual void	SetWorldScale (const math::Vector3d &_scale)=0
	Set the world scale. More...

virtual void	SetWorldScale (double _scale)=0
	Set the world scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetWorldScale (double _x, double _y, double _z)=0
	Set the world scale. More...

virtual Variant	UserData (const std::string &_key) const =0
	Get custom data stored in this node. More...

virtual math::Pose3d	WorldPose () const =0
	Get the world pose. More...

virtual math::Vector3d	WorldPosition () const =0
	Get the world position. More...

virtual math::Quaterniond	WorldRotation () const =0
	Get the world rotation. More...

virtual math::Vector3d	WorldScale () const =0
	Get the world scale. More...

virtual math::Pose3d	WorldToLocal (const math::Pose3d &_pose) const =0
	Convert given world pose to local pose. More...

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor. More...

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual void	PostRender ()=0
	Post process this object and any of its children after rendering. More...

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object. More...

Protected Member Functions
	BaseLidarVisual ()

Protected Member Functions inherited from LidarVisual
	LidarVisual ()

Protected Attributes
bool	displayNonHitting = true
	Option to display non-hitting rays. More...

double	horizontalAngleStep = 0
	Angle between two horizontal rays. More...

unsigned int	horizontalCount = 1u
	Horizontal laser count. More...

LidarVisualType	lidarVisualType
	Type of lidar visualisation. More...

double	maxHorizontalAngle = 0
	Horizontal maximum angle. More...

double	maxRange = 0
	Maximum Range. More...

double	maxVerticalAngle = 0
	Vertical maximum angle. More...

double	minHorizontalAngle = 0
	Horizontal minimal angle. More...

double	minRange = 0
	Minimum Range. More...

double	minVerticalAngle = 0
	Vertical minimal angle. More...

gz::math::Pose3d	offset = gz::math::Pose3d::Zero
	Offset of visual. More...

double	size = 1.0
	Size of lidar visualisation. More...

double	verticalAngleStep = 0
	Angle between two vertical rays. More...

unsigned int	verticalCount = 1u
	Vertical laser count. More...

Detailed Description

template<class T>
class gz::rendering::BaseLidarVisual< T >

Base implementation of a Lidar Visual.

Constructor & Destructor Documentation

◆ BaseLidarVisual()

BaseLidarVisual

protected

◆ ~BaseLidarVisual()

~BaseLidarVisual

virtual

Member Function Documentation

◆ ClearPoints()

void ClearPoints ( )

overridevirtual

Clear the points of the lidar visual.

Implements LidarVisual.

Reimplemented in OgreLidarVisual, and Ogre2LidarVisual.

◆ CreateMaterials()

void CreateMaterials

virtual

Create predefined materials for lidar visual.

◆ Destroy()

void Destroy ( )

overridevirtual

Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

Implements Object.

Reimplemented in OgreLidarVisual, and Ogre2LidarVisual.

◆ DisplayNonHitting()

bool DisplayNonHitting ( ) const

overridevirtual

Get if non-hitting rays will be displayed.

Returns: Boolean value if non-hitting rays will be displayed

Implements LidarVisual.

◆ HorizontalRayCount()

unsigned int HorizontalRayCount ( ) const

overridevirtual

Get number of horizontal rays.

Returns: The number of horizontal rays

Implements LidarVisual.

◆ Init()

void Init

overridevirtual

Reimplemented in OgreLidarVisual, and Ogre2LidarVisual.

◆ MaxHorizontalAngle()

double MaxHorizontalAngle ( ) const

overridevirtual

Get maximum horizontal angle.

Returns: The maximum horizontal angle value of the lidar visual

Implements LidarVisual.

◆ MaxRange()

double MaxRange ( ) const

overridevirtual

Get maximum range of lidar rays.

Returns: The maximum range for lidar rays

Implements LidarVisual.

◆ MaxVerticalAngle()

double MaxVerticalAngle ( ) const

overridevirtual

Get minimum vertical angle.

Returns: The maximum vertical angle value of the lidar visual

Implements LidarVisual.

◆ MinHorizontalAngle()

double MinHorizontalAngle ( ) const

overridevirtual

Get minimum horizontal angle.

Returns: The minimum horizontal angle value of the lidar visual

Implements LidarVisual.

◆ MinRange()

double MinRange ( ) const

overridevirtual

Get minimum range of lidar rays.

Returns: The minimum range for lidar rays

Implements LidarVisual.

◆ MinVerticalAngle()

double MinVerticalAngle ( ) const

overridevirtual

Get minimum vertical angle.

Returns: The minimum vertical angle value of the lidar visual

Implements LidarVisual.

◆ Offset()

gz::math::Pose3d Offset ( ) const

overridevirtual

Get offset of visual.

Returns: The offset of the lidar rays from visual origin

Implements LidarVisual.

◆ PointCount()

unsigned int PointCount ( ) const

overridevirtual

Get number of points in laser data.

Returns: The number of points in the laser data

Implements LidarVisual.

◆ Points()

std::vector< double > Points ( ) const

overridevirtual

Get the points in laser data.

Returns: The points in the laser data

Implements LidarVisual.

◆ PreRender()

void PreRender ( )

overridevirtual

Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender.

Implements Object.

Reimplemented in OgreLidarVisual, and Ogre2LidarVisual.

◆ SetDisplayNonHitting()

void SetDisplayNonHitting ( bool _display )

overridevirtual

Set if non-hitting rays will be displayed (this does not work for TRIANGLE_STRIPS visual)

Parameters

[in] _display Boolean value to display non hitting visuals

Implements LidarVisual.

◆ SetHorizontalRayCount()

void SetHorizontalRayCount ( unsigned int _horizontalRayCount )

overridevirtual

Set number of horizontal rays.

Returns: _horizontalRayCount Number of vertical rays

Implements LidarVisual.

◆ SetMaxHorizontalAngle()

void SetMaxHorizontalAngle ( double _maxHorizontalAngle )

overridevirtual

Set maximum horizontal angle.

Parameters

[in] _maxHorizontalAngle Maximum horizontal angle value

Implements LidarVisual.

◆ SetMaxRange()

void SetMaxRange ( double _maxRange )

overridevirtual

Set maximum range of lidar rays.

Parameters

[in] _maxRange The maximum range for lidar rays

Implements LidarVisual.

◆ SetMaxVerticalAngle()

void SetMaxVerticalAngle ( double _maxVerticalAngle )

overridevirtual

Set maximum vertical angle.

Parameters

[in] _maxVerticalAngle Maximum vertical angle value

Implements LidarVisual.

◆ SetMinHorizontalAngle()

void SetMinHorizontalAngle ( double _minHorizontalAngle )

overridevirtual

Set minimum horizontal angle.

Parameters

[in] _minHorizontalAngle Minimum horizontal angle value

Implements LidarVisual.

◆ SetMinRange()

void SetMinRange ( double _minRange )

overridevirtual

Set minimum range of lidar rays.

Parameters

[in] _minRange The minimum range for lidar rays

Implements LidarVisual.

◆ SetMinVerticalAngle()

void SetMinVerticalAngle ( double _minVerticalAngle )

overridevirtual

Set minimum vertical angle.

Parameters

[in] _minVerticalAngle Minimum vertical angle

Implements LidarVisual.

◆ SetOffset()

void SetOffset ( const gz::math::Pose3d _offset )

overridevirtual

Set offset of visual.

Parameters

[in] _offset The offset of the lidar rays from visual origin

Implements LidarVisual.

◆ SetPoints() [1/2]

void SetPoints ( const std::vector< double > & _points )

overridevirtual

Set lidar points to be visualised.

Parameters

[in] _points Vector of points representing distance of the ray

Implements LidarVisual.

Reimplemented in OgreLidarVisual, and Ogre2LidarVisual.

◆ SetPoints() [2/2]

void SetPoints	(	const std::vector< double > &	_points,
		const std::vector< gz::math::Color > &	_colors
	)

overridevirtual

Set lidar points to be visualised.

Parameters

[in]	_points	Vector of points representing distance of the ray
[in]	_colors	Vector of colors for the rendered points

Implements LidarVisual.

Reimplemented in OgreLidarVisual.

◆ SetSize()

void SetSize ( double _size )

overridevirtual

Set size of the lidar visualization, e.g. size of rasterized lidar points in pixels.

Parameters

[in] _size Size of the lidar visualization.

Implements LidarVisual.

◆ SetType()

void SetType ( const LidarVisualType _type )

overridevirtual

Set type for lidar visual.

Parameters

[in] _type The type of visualisation for lidar data

Implements LidarVisual.

◆ SetVerticalRayCount()

void SetVerticalRayCount ( unsigned int _verticalRayCount )

overridevirtual

Set number of vertical rays.

Parameters

[in] _verticalRayCount Number of vertical rays

Implements LidarVisual.

◆ Size()

double Size ( ) const

overridevirtual

Get size of the lidar visualization.

Returns: Size of the lidar visualization.

See also: SetSize

Implements LidarVisual.

◆ Type()

LidarVisualType Type ( ) const

overridevirtual

Get the type for lidar visual.

Returns: The type for lidar visual

Implements LidarVisual.

◆ Update()

void Update ( )

overridevirtual

Update the Visual.

Implements LidarVisual.

Reimplemented in OgreLidarVisual, and Ogre2LidarVisual.

◆ VerticalRayCount()

unsigned int VerticalRayCount ( ) const

overridevirtual

Get number of vertical rays.

Returns: The number of vertical rays

Implements LidarVisual.

Member Data Documentation

◆ displayNonHitting

bool displayNonHitting = true

protected

Option to display non-hitting rays.

◆ horizontalAngleStep

double horizontalAngleStep = 0

protected

Angle between two horizontal rays.

◆ horizontalCount

unsigned int horizontalCount = 1u

protected

Horizontal laser count.

◆ lidarVisualType

LidarVisualType lidarVisualType

protected

Initial value:

=

LidarVisualType::LVT_TRIANGLE_STRIPS

Type of lidar visualisation.

◆ maxHorizontalAngle

double maxHorizontalAngle = 0

protected

Horizontal maximum angle.

◆ maxRange

double maxRange = 0

protected

Maximum Range.

◆ maxVerticalAngle

double maxVerticalAngle = 0

protected

Vertical maximum angle.

◆ minHorizontalAngle

double minHorizontalAngle = 0

protected

Horizontal minimal angle.

◆ minRange

double minRange = 0

protected

Minimum Range.

◆ minVerticalAngle

double minVerticalAngle = 0

protected

Vertical minimal angle.

◆ offset

gz::math::Pose3d offset = gz::math::Pose3d::Zero

protected

Offset of visual.

◆ size

double size = 1.0

protected

Size of lidar visualisation.

◆ verticalAngleStep

double verticalAngleStep = 0

protected

Angle between two vertical rays.

◆ verticalCount

unsigned int verticalCount = 1u

protected

Vertical laser count.

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

gz/rendering/base/BaseLidarVisual.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class T> class gz::rendering::BaseLidarVisual< T >

Constructor & Destructor Documentation

◆ BaseLidarVisual()

◆ ~BaseLidarVisual()

Member Function Documentation

◆ ClearPoints()

◆ CreateMaterials()

◆ Destroy()

◆ DisplayNonHitting()

◆ HorizontalRayCount()

◆ Init()

◆ MaxHorizontalAngle()

◆ MaxRange()

◆ MaxVerticalAngle()

◆ MinHorizontalAngle()

◆ MinRange()

◆ MinVerticalAngle()

◆ Offset()

◆ PointCount()

◆ Points()

◆ PreRender()

◆ SetDisplayNonHitting()

◆ SetHorizontalRayCount()

◆ SetMaxHorizontalAngle()

◆ SetMaxRange()

◆ SetMaxVerticalAngle()

◆ SetMinHorizontalAngle()

◆ SetMinRange()

◆ SetMinVerticalAngle()

◆ SetOffset()

◆ SetPoints() [1/2]

◆ SetPoints() [2/2]

◆ SetSize()

◆ SetType()

◆ SetVerticalRayCount()

◆ Size()

◆ Type()

◆ Update()

◆ VerticalRayCount()

Member Data Documentation

◆ displayNonHitting

◆ horizontalAngleStep

◆ horizontalCount

◆ lidarVisualType

◆ maxHorizontalAngle

◆ maxRange

◆ maxVerticalAngle

◆ minHorizontalAngle

◆ minRange

◆ minVerticalAngle

◆ offset

◆ size

◆ verticalAngleStep

◆ verticalCount

template<class T>
class gz::rendering::BaseLidarVisual< T >