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

#include <gz/rendering/LidarVisual>

Public Member Functions
virtual	~LidarVisual ()
	Destructor.

virtual void	ClearPoints ()=0
	Clear the points of the lidar visual.

virtual bool	DisplayNonHitting () const =0
	Get if non-hitting rays will be displayed.

virtual unsigned int	HorizontalRayCount () const =0
	Get number of horizontal rays.

virtual double	MaxHorizontalAngle () const =0
	Get maximum horizontal angle.

virtual double	MaxRange () const =0
	Get maximum range of lidar rays.

virtual double	MaxVerticalAngle () const =0
	Get minimum vertical angle.

virtual double	MinHorizontalAngle () const =0
	Get minimum horizontal angle.

virtual double	MinRange () const =0
	Get minimum range of lidar rays.

virtual double	MinVerticalAngle () const =0
	Get minimum vertical angle.

virtual gz::math::Pose3d	Offset () const =0
	Get offset of visual.

virtual unsigned int	PointCount () const =0
	Get number of points in laser data.

virtual std::vector< double >	Points () const =0
	Get the points in laser data.

virtual void	SetDisplayNonHitting (bool _display)=0
	Set if non-hitting rays will be displayed (this does not work for TRIANGLE_STRIPS visual)

virtual void	SetHorizontalRayCount (unsigned int _horizontalRayCount)=0
	Set number of horizontal rays.

virtual void	SetMaxHorizontalAngle (double _maxHorizontalAngle)=0
	Set maximum horizontal angle.

virtual void	SetMaxRange (double _maxRange)=0
	Set maximum range of lidar rays.

virtual void	SetMaxVerticalAngle (double _maxVerticalAngle)=0
	Set maximum vertical angle.

virtual void	SetMinHorizontalAngle (double _minHorizontalAngle)=0
	Set minimum horizontal angle.

virtual void	SetMinRange (double _minRange)=0
	Set minimum range of lidar rays.

virtual void	SetMinVerticalAngle (double _minVerticalAngle)=0
	Set minimum vertical angle.

virtual void	SetOffset (const gz::math::Pose3d _offset)=0
	Set offset of visual.

virtual void	SetPoints (const std::vector< double > &_points)=0
	Set lidar points to be visualised.

virtual void	SetPoints (const std::vector< double > &_points, const std::vector< gz::math::Color > &_colors)=0
	Set lidar points to be visualised.

virtual void	SetSize (double _size)=0
	Set size of the lidar visualization, e.g. size of rasterized lidar points in pixels.

virtual void	SetType (const LidarVisualType _type)=0
	Set type for lidar visual.

virtual void	SetVerticalRayCount (unsigned int _verticalRayCount)=0
	Set number of vertical rays.

virtual double	Size () const =0
	Get size of the lidar visualization.

virtual LidarVisualType	Type () const =0
	Get the type for lidar visual.

virtual void	Update ()=0
	Update the Visual.

virtual unsigned int	VerticalRayCount () const =0
	Get number of vertical rays.

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

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.

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

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

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

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

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

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

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

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

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

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.

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.

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

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

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

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.

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

virtual void	SetStatic (bool _static)=0
	Tells Render Engine this Visual will be static (i.e. won't move, rotate or scale) You can still move, rotate or scale the Visual; however doing so has a performance impact. How much of an impact will depend on the rendering backend being used.

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

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

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

virtual bool	Static () const =0
	Get whether the visual is static.

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

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

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

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.

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

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

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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

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.

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.

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.

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

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

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

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.

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

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

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

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

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

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

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

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

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

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

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

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

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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual void	Destroy ()=0
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

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.

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.

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

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.

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

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

Clear the points of the lidar visual.

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

◆ 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 >, BaseLidarVisual< Ogre2Visual >, and BaseLidarVisual< OgreVisual >.

◆ HorizontalRayCount()

virtual unsigned int HorizontalRayCount ( ) const

pure virtual

Get number of horizontal rays.

Returns: The number of horizontal rays

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

◆ 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 >, BaseLidarVisual< Ogre2Visual >, and BaseLidarVisual< OgreVisual >.

◆ MaxRange()

virtual double MaxRange ( ) const

pure virtual

Get maximum range of lidar rays.

Returns: The maximum range for lidar rays

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

◆ 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 >, BaseLidarVisual< Ogre2Visual >, and BaseLidarVisual< OgreVisual >.

◆ 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 >, BaseLidarVisual< Ogre2Visual >, and BaseLidarVisual< OgreVisual >.

◆ MinRange()

virtual double MinRange ( ) const

pure virtual

Get minimum range of lidar rays.

Returns: The minimum range for lidar rays

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

◆ 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 >, BaseLidarVisual< Ogre2Visual >, and BaseLidarVisual< OgreVisual >.

◆ 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 >, BaseLidarVisual< Ogre2Visual >, and BaseLidarVisual< OgreVisual >.

◆ 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 >, BaseLidarVisual< Ogre2Visual >, BaseLidarVisual< OgreVisual >, 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 >, BaseLidarVisual< Ogre2Visual >, BaseLidarVisual< OgreVisual >, 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] _display Boolean value to display non hitting visuals

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

◆ SetHorizontalRayCount()

virtual void SetHorizontalRayCount ( unsigned int _horizontalRayCount )

pure virtual

Set number of horizontal rays.

Parameters

[in] _horizontalRayCount Number of vertical rays

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

◆ SetMaxHorizontalAngle()

virtual void SetMaxHorizontalAngle ( double _maxHorizontalAngle )

pure virtual

Set maximum horizontal angle.

Parameters

[in] _maxHorizontalAngle Maximum horizontal angle value

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

◆ SetMaxRange()

virtual void SetMaxRange ( double _maxRange )

pure virtual

Set maximum range of lidar rays.

Parameters

[in] _maxRange The maximum range for lidar rays

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

◆ SetMaxVerticalAngle()

virtual void SetMaxVerticalAngle ( double _maxVerticalAngle )

pure virtual

Set maximum vertical angle.

Parameters

[in] _maxVerticalAngle Maximum vertical angle value

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

◆ SetMinHorizontalAngle()

virtual void SetMinHorizontalAngle ( double _minHorizontalAngle )

pure virtual

Set minimum horizontal angle.

Parameters

[in] _minHorizontalAngle Minimum horizontal angle value

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

◆ SetMinRange()

virtual void SetMinRange ( double _minRange )

pure virtual

Set minimum range of lidar rays.

Parameters

[in] _minRange The minimum range for lidar rays

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

◆ SetMinVerticalAngle()

virtual void SetMinVerticalAngle ( double _minVerticalAngle )

pure virtual

Set minimum vertical angle.

Parameters

[in] _minVerticalAngle Minimum vertical angle

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

◆ SetOffset()

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

pure virtual

Set offset of visual.

Parameters

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

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

◆ SetPoints() [1/2]

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

pure virtual

Set lidar points to be visualised.

Parameters

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

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

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

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

◆ 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] _size Size of the lidar visualization.

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

◆ SetType()

virtual void SetType ( const LidarVisualType _type )

pure virtual

Set type for lidar visual.

Parameters

[in] _type The type of visualisation for lidar data

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

◆ SetVerticalRayCount()

virtual void SetVerticalRayCount ( unsigned int _verticalRayCount )

pure virtual

Set number of vertical rays.

Parameters

[in] _verticalRayCount Number of vertical rays

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

◆ 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 >, BaseLidarVisual< Ogre2Visual >, and BaseLidarVisual< OgreVisual >.

◆ Type()

virtual LidarVisualType Type ( ) const

pure virtual

Get the type for lidar visual.

Returns: The type for lidar visual

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

◆ Update()

virtual void Update ( )

pure virtual

Update the Visual.

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

◆ VerticalRayCount()

virtual unsigned int VerticalRayCount ( ) const

pure virtual

Get number of vertical rays.

Returns: The number of vertical rays

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

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

LidarVisual.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ LidarVisual()

◆ ~LidarVisual()

Member Function Documentation

◆ ClearPoints()

◆ DisplayNonHitting()

◆ HorizontalRayCount()

◆ MaxHorizontalAngle()

◆ MaxRange()

◆ MaxVerticalAngle()

◆ MinHorizontalAngle()

◆ MinRange()

◆ MinVerticalAngle()

◆ Offset()

◆ PointCount()

◆ Points()

◆ SetDisplayNonHitting()

◆ SetHorizontalRayCount()

◆ SetMaxHorizontalAngle()

◆ SetMaxRange()

◆ SetMaxVerticalAngle()

◆ SetMinHorizontalAngle()

◆ SetMinRange()

◆ SetMinVerticalAngle()

◆ SetOffset()

◆ SetPoints() [1/2]

◆ SetPoints() [2/2]

◆ SetSize()

◆ SetType()

◆ SetVerticalRayCount()

◆ Size()

◆ Type()

◆ Update()

◆ VerticalRayCount()