Gazebo Rendering

API Reference

7.4.2

A LidarVisual geometry class. The visual appearance is based on the type specified. More...

#include <gz/rendering/LidarVisual>

Public Member Functions

virtual ~LidarVisual ()
 Destructor. More...
 
virtual void ClearPoints ()=0
 Clear the points of the lidar visual. More...
 
virtual bool DisplayNonHitting () const =0
 Get if non-hitting rays will be displayed. More...
 
virtual unsigned int HorizontalRayCount () const =0
 Get number of horizontal rays. More...
 
virtual double MaxHorizontalAngle () const =0
 Get maximum horizontal angle. More...
 
virtual double MaxRange () const =0
 Get maximum range of lidar rays. More...
 
virtual double MaxVerticalAngle () const =0
 Get minimum vertical angle. More...
 
virtual double MinHorizontalAngle () const =0
 Get minimum horizontal angle. More...
 
virtual double MinRange () const =0
 Get minimum range of lidar rays. More...
 
virtual double MinVerticalAngle () const =0
 Get minimum vertical angle. More...
 
virtual gz::math::Pose3d Offset () const =0
 Get offset of visual. More...
 
virtual unsigned int PointCount () const =0
 Get number of points in laser data. More...
 
virtual std::vector< double > Points () const =0
 Get the points in laser data. More...
 
virtual void SetDisplayNonHitting (bool _display)=0
 Set if non-hitting rays will be displayed (this does not work for TRIANGLE_STRIPS visual) More...
 
virtual void SetHorizontalRayCount (unsigned int _horizontalRayCount)=0
 Set number of horizontal rays. More...
 
virtual void SetMaxHorizontalAngle (double _maxHorizontalAngle)=0
 Set maximum horizontal angle. More...
 
virtual void SetMaxRange (double _maxRange)=0
 Set maximum range of lidar rays. More...
 
virtual void SetMaxVerticalAngle (double _maxVerticalAngle)=0
 Set maximum vertical angle. More...
 
virtual void SetMinHorizontalAngle (double _minHorizontalAngle)=0
 Set minimum horizontal angle. More...
 
virtual void SetMinRange (double _minRange)=0
 Set minimum range of lidar rays. More...
 
virtual void SetMinVerticalAngle (double _minVerticalAngle)=0
 Set minimum vertical angle. More...
 
virtual void SetOffset (const gz::math::Pose3d _offset)=0
 Set offset of visual. More...
 
virtual void SetPoints (const std::vector< double > &_points)=0
 Set lidar points to be visualised. More...
 
virtual void SetPoints (const std::vector< double > &_points, const std::vector< gz::math::Color > &_colors)=0
 Set lidar points to be visualised. More...
 
virtual void SetSize (double _size)=0
 Set size of the lidar visualization, e.g. size of rasterized lidar points in pixels. More...
 
virtual void SetType (const LidarVisualType _type)=0
 Set type for lidar visual. More...
 
virtual void SetVerticalRayCount (unsigned int _verticalRayCount)=0
 Set number of vertical rays. More...
 
virtual double Size () const =0
 Get size of the lidar visualization. More...
 
virtual LidarVisualType Type () const =0
 Get the type for lidar visual. More...
 
virtual void Update ()=0
 Update the Visual. More...
 
virtual unsigned int VerticalRayCount () const =0
 Get number of vertical rays. 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 void Destroy ()=0
 Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. 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 void PreRender ()=0
 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 ScenePtr Scene () const =0
 Get the Scene that created this object. More...
 

Protected Member Functions

 LidarVisual ()
 

Detailed Description

A LidarVisual geometry class. The visual appearance is based on the type specified.

Constructor & Destructor Documentation

◆ LidarVisual()

LidarVisual ( )
protected

◆ ~LidarVisual()

virtual ~LidarVisual ( )
virtual

Destructor.

Member Function Documentation

◆ ClearPoints()

virtual void ClearPoints ( )
pure virtual

◆ DisplayNonHitting()

virtual bool DisplayNonHitting ( ) const
pure virtual

Get if non-hitting rays will be displayed.

Returns
Boolean value if non-hitting rays will be displayed

Implemented in BaseLidarVisual< T >.

◆ HorizontalRayCount()

virtual unsigned int HorizontalRayCount ( ) const
pure virtual

Get number of horizontal rays.

Returns
The number of horizontal rays

Implemented in BaseLidarVisual< T >.

◆ MaxHorizontalAngle()

virtual double MaxHorizontalAngle ( ) const
pure virtual

Get maximum horizontal angle.

Returns
The maximum horizontal angle value of the lidar visual

Implemented in BaseLidarVisual< T >.

◆ MaxRange()

virtual double MaxRange ( ) const
pure virtual

Get maximum range of lidar rays.

Returns
The maximum range for lidar rays

Implemented in BaseLidarVisual< T >.

◆ MaxVerticalAngle()

virtual double MaxVerticalAngle ( ) const
pure virtual

Get minimum vertical angle.

Returns
The maximum vertical angle value of the lidar visual

Implemented in BaseLidarVisual< T >.

◆ MinHorizontalAngle()

virtual double MinHorizontalAngle ( ) const
pure virtual

Get minimum horizontal angle.

Returns
The minimum horizontal angle value of the lidar visual

Implemented in BaseLidarVisual< T >.

◆ MinRange()

virtual double MinRange ( ) const
pure virtual

Get minimum range of lidar rays.

Returns
The minimum range for lidar rays

Implemented in BaseLidarVisual< T >.

◆ MinVerticalAngle()

virtual double MinVerticalAngle ( ) const
pure virtual

Get minimum vertical angle.

Returns
The minimum vertical angle value of the lidar visual

Implemented in BaseLidarVisual< T >.

◆ Offset()

virtual gz::math::Pose3d Offset ( ) const
pure virtual

Get offset of visual.

Returns
The offset of the lidar rays from visual origin

Implemented in BaseLidarVisual< T >.

◆ PointCount()

virtual unsigned int PointCount ( ) const
pure virtual

Get number of points in laser data.

Returns
The number of points in the laser data

Implemented in BaseLidarVisual< T >, OgreLidarVisual, and Ogre2LidarVisual.

◆ Points()

virtual std::vector<double> Points ( ) const
pure virtual

Get the points in laser data.

Returns
The points in the laser data

Implemented in BaseLidarVisual< T >, OgreLidarVisual, and Ogre2LidarVisual.

◆ SetDisplayNonHitting()

virtual void SetDisplayNonHitting ( bool  _display)
pure virtual

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

Parameters
[in]_displayBoolean value to display non hitting visuals

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetHorizontalRayCount()

virtual void SetHorizontalRayCount ( unsigned int  _horizontalRayCount)
pure virtual

Set number of horizontal rays.

Returns
_horizontalRayCount Number of vertical rays

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetMaxHorizontalAngle()

virtual void SetMaxHorizontalAngle ( double  _maxHorizontalAngle)
pure virtual

Set maximum horizontal angle.

Parameters
[in]_maxHorizontalAngleMaximum horizontal angle value

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetMaxRange()

virtual void SetMaxRange ( double  _maxRange)
pure virtual

Set maximum range of lidar rays.

Parameters
[in]_maxRangeThe maximum range for lidar rays

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetMaxVerticalAngle()

virtual void SetMaxVerticalAngle ( double  _maxVerticalAngle)
pure virtual

Set maximum vertical angle.

Parameters
[in]_maxVerticalAngleMaximum vertical angle value

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetMinHorizontalAngle()

virtual void SetMinHorizontalAngle ( double  _minHorizontalAngle)
pure virtual

Set minimum horizontal angle.

Parameters
[in]_minHorizontalAngleMinimum horizontal angle value

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetMinRange()

virtual void SetMinRange ( double  _minRange)
pure virtual

Set minimum range of lidar rays.

Parameters
[in]_minRangeThe minimum range for lidar rays

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetMinVerticalAngle()

virtual void SetMinVerticalAngle ( double  _minVerticalAngle)
pure virtual

Set minimum vertical angle.

Parameters
[in]_minVerticalAngleMinimum vertical angle

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetOffset()

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

Set offset of visual.

Parameters
[in]_offsetThe offset of the lidar rays from visual origin

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetPoints() [1/2]

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

Set lidar points to be visualised.

Parameters
[in]_pointsVector of points representing distance of the ray

Implemented in OgreLidarVisual, Ogre2LidarVisual, BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetPoints() [2/2]

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

Set lidar points to be visualised.

Parameters
[in]_pointsVector of points representing distance of the ray
[in]_colorsVector of colors for the rendered points

Implemented in OgreLidarVisual, BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetSize()

virtual void SetSize ( double  _size)
pure virtual

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

Parameters
[in]_sizeSize of the lidar visualization.

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetType()

virtual void SetType ( const LidarVisualType  _type)
pure virtual

Set type for lidar visual.

Parameters
[in]_typeThe type of visualisation for lidar data

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ SetVerticalRayCount()

virtual void SetVerticalRayCount ( unsigned int  _verticalRayCount)
pure virtual

Set number of vertical rays.

Parameters
[in]_verticalRayCountNumber of vertical rays

Implemented in BaseLidarVisual< T >, BaseLidarVisual< OgreVisual >, and BaseLidarVisual< Ogre2Visual >.

◆ Size()

virtual double Size ( ) const
pure virtual

Get size of the lidar visualization.

Returns
Size of the lidar visualization.
See also
SetSize

Implemented in BaseLidarVisual< T >.

◆ Type()

virtual LidarVisualType Type ( ) const
pure virtual

Get the type for lidar visual.

Returns
The type for lidar visual

Implemented in BaseLidarVisual< T >.

◆ Update()

virtual void Update ( )
pure virtual

◆ VerticalRayCount()

virtual unsigned int VerticalRayCount ( ) const
pure virtual

Get number of vertical rays.

Returns
The number of vertical rays

Implemented in BaseLidarVisual< T >.


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