Ogre implementation of a Lidar Visual. More...

#include <OgreLidarVisual.hh>

Public Member Functions
virtual	~OgreLidarVisual ()
	Destructor. More...

virtual void	ClearPoints () override
	Clear the points of the 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 void	Init () override

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	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	SetVisible (bool _visible) override
	Specify if this visual is visible. More...

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

Public Member Functions inherited from BaseLidarVisual< OgreVisual >
virtual	~BaseLidarVisual ()

virtual void	CreateMaterials ()
	Create predefined materials for lidar visual. 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 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	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	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 unsigned int	VerticalRayCount () const override
	Get number of vertical rays. More...

Public Member Functions inherited from LidarVisual
virtual	~LidarVisual ()
	Destructor. 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 double	Size () const =0
	Get size of the lidar visualization. More...

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

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

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

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

virtual unsigned int	ChildCount () const =0
	Get number of child nodes. 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	Origin () const =0
	Get position of origin. 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...

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...

Public Member Functions inherited from OgreVisual
virtual	~OgreVisual ()

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

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

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

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

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

Public Member Functions inherited from BaseVisual< OgreNode >
virtual	~BaseVisual ()

virtual void	AddGeometry (GeometryPtr _geometry) override
	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) override
	Add visibility flags. More...

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

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

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

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

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

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

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

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

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

virtual GeometryPtr	RemoveGeometry (GeometryPtr _geometry) override
	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) override
	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) override
	Remove visibility flags. More...

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

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

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

virtual void	SetMaterial (const std::string &_name, bool _unique=true) override
	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) override
	Set the material for all attached visuals and geometries. More...

virtual uint32_t	VisibilityFlags () const override
	Get visibility flags. More...

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

Public Member Functions inherited from OgreNode
virtual	~OgreNode ()

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

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

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

virtual Ogre::SceneNode *	Node () const

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

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

Public Member Functions inherited from BaseNode< OgreObject >
virtual	~BaseNode ()

virtual void	AddChild (NodePtr _child) override
	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 override
	Get node with given ID. If no child exists with given ID, NULL will be returned. More...

virtual NodePtr	ChildByIndex (unsigned int _index) const override
	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 override
	Get node with given name. If no child exists with given name, NULL will be returned. More...

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

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

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

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

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

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

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

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

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

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

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

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

virtual NodePtr	RemoveChild (NodePtr _child) override
	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) override
	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) override
	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) override
	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 () override
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...

virtual void	RemoveParent () override
	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) override
	Scale the current scale by the given scalars. More...

virtual void	Scale (double _scale) override
	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) override
	Scale the current scale by the given scalars. More...

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

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

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

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

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

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

virtual void	SetLocalScale (double _scale) override
	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) override
	Set the local scale. More...

virtual void	SetOrigin (const math::Vector3d &_origin) override
	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) override
	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) override
	Store any custom data associated with this node. More...

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

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

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

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

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

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

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

virtual void	SetWorldScale (double _scale) override
	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) override
	Set the world scale. More...

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

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

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

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

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

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

Public Member Functions inherited from OgreObject
virtual	~OgreObject ()

virtual ScenePtr	Scene () const

Public Member Functions inherited from BaseObject
virtual	~BaseObject ()

virtual unsigned int	Id () const override

virtual std::string	Name () const override

virtual void	PostRender () override

Protected Member Functions
	OgreLidarVisual ()
	Constructor. More...

Protected Member Functions inherited from BaseLidarVisual< OgreVisual >
	BaseLidarVisual ()

Protected Member Functions inherited from LidarVisual
	LidarVisual ()

Protected Member Functions inherited from OgreVisual
	OgreVisual ()

virtual bool	AttachGeometry (GeometryPtr _geometry) override

virtual bool	DetachGeometry (GeometryPtr _geometry) override

virtual GeometryStorePtr	Geometries () const override

Protected Member Functions inherited from BaseVisual< OgreNode >
	BaseVisual ()

virtual GeometryStorePtr	Geometries () const=0

virtual void	PreRenderChildren () override

virtual void	PreRenderGeometries ()

Protected Member Functions inherited from OgreNode
	OgreNode ()

virtual bool	AttachChild (NodePtr _child) override

virtual NodeStorePtr	Children () const override

virtual bool	DetachChild (NodePtr _child) override

virtual void	Load () override

virtual math::Pose3d	RawLocalPose () const override

virtual math::Vector3d	RawLocalPosition () const

virtual math::Quaterniond	RawLocalRotation () const

virtual void	SetLocalScaleImpl (const math::Vector3d &_scale) override
	Implementation of the SetLocalScale function. More...

virtual void	SetParent (OgreNodePtr _parent)

virtual void	SetRawLocalPose (const math::Pose3d &_Pose3d) override

virtual void	SetRawLocalPosition (const math::Vector3d &_position)

virtual void	SetRawLocalRotation (const math::Quaterniond &_rotation)

Protected Member Functions inherited from BaseNode< OgreObject >
	BaseNode ()

virtual NodeStorePtr	Children () const=0

virtual math::Pose3d	RawLocalPose () const=0

Protected Member Functions inherited from OgreObject
	OgreObject ()

Protected Member Functions inherited from BaseObject
	BaseObject ()

Additional Inherited Members
Protected Attributes inherited from BaseLidarVisual< OgreVisual >
bool	displayNonHitting
	Option to display non-hitting rays. More...

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

unsigned int	horizontalCount
	Horizontal laser count. More...

LidarVisualType	lidarVisualType
	Type of lidar visualisation. More...

double	maxHorizontalAngle
	Horizontal maximum angle. More...

double	maxRange
	Maximum Range. More...

double	maxVerticalAngle
	Vertical maximum angle. More...

double	minHorizontalAngle
	Horizontal minimal angle. More...

double	minRange
	Minimum Range. More...

double	minVerticalAngle
	Vertical minimal angle. More...

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

double	size
	Size of lidar visualisation. More...

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

unsigned int	verticalCount
	Vertical laser count. More...

Protected Attributes inherited from OgreVisual
OgreGeometryStorePtr	geometries

Protected Attributes inherited from BaseVisual< OgreNode >
gz::math::AxisAlignedBox	boundingBox
	The bounding box of the visual. More...

MaterialPtr	material
	Pointer to material assigned to this visual. More...

uint32_t	visibilityFlags
	Visual's visibility flags. More...

bool	wireframe
	True if wireframe mode is enabled else false. More...

Protected Attributes inherited from OgreNode
OgreNodeStorePtr	children

Ogre::SceneNode *	ogreNode = nullptr

OgreNodePtr	parent

Protected Attributes inherited from BaseNode< OgreObject >
gz::math::Pose3d	initialLocalPose
	Initial local pose for this node. More...

bool	initialLocalPoseSet
	Flag to indicate whether initial local pose is set for this node. More...

math::Vector3d	origin

std::map< std::string, Variant >	userData
	A map of custom key value data. More...

Protected Attributes inherited from OgreObject
OgreScenePtr	scene

Protected Attributes inherited from BaseObject
unsigned int	id

std::string	name

Detailed Description

Ogre implementation of a Lidar Visual.

Constructor & Destructor Documentation

◆ OgreLidarVisual()

OgreLidarVisual ( )

protected

Constructor.

◆ ~OgreLidarVisual()

virtual ~OgreLidarVisual ( )

virtual

Destructor.

Member Function Documentation

◆ ClearPoints()

virtual void ClearPoints ( )

overridevirtual

Clear the points of the lidar visual.

Reimplemented from BaseLidarVisual< OgreVisual >.

◆ Destroy()

virtual void Destroy ( )

overridevirtual

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

Reimplemented from BaseLidarVisual< OgreVisual >.

◆ Init()

virtual void Init ( )

overridevirtual

Reimplemented from BaseLidarVisual< OgreVisual >.

◆ PointCount()

virtual unsigned int PointCount ( ) const

overridevirtual

Get number of points in laser data.

Returns: The number of points in the laser data

Implements LidarVisual.

◆ Points()

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

overridevirtual

Get the points in laser data.

Returns: The points in the laser data

Implements LidarVisual.

◆ PreRender()

virtual 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.

Reimplemented from BaseLidarVisual< OgreVisual >.

◆ SetPoints() [1/2]

virtual 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

Reimplemented from BaseLidarVisual< OgreVisual >.

◆ SetPoints() [2/2]

virtual 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

Reimplemented from BaseLidarVisual< OgreVisual >.

◆ SetVisible()

virtual void SetVisible ( bool _visible )

overridevirtual

Specify if this visual is visible.

Parameters

[in] _visible True if this visual should be made visible

Reimplemented from OgreVisual.

◆ Update()

virtual void Update ( )

overridevirtual

Update the Visual.

Reimplemented from BaseLidarVisual< OgreVisual >.

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

gz/rendering/ogre/OgreLidarVisual.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OgreLidarVisual()

◆ ~OgreLidarVisual()

Member Function Documentation

◆ ClearPoints()

◆ Destroy()

◆ Init()

◆ PointCount()

◆ Points()

◆ PreRender()

◆ SetPoints() [1/2]

◆ SetPoints() [2/2]

◆ SetVisible()

◆ Update()