Lidar.hh
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1 /*
2  * Copyright 2019 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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15  *
16  */
17 #ifndef SDF_LIDAR_HH_
18 #define SDF_LIDAR_HH_
19 
20 #include <gz/math/Angle.hh>
21 #include <gz/utils/ImplPtr.hh>
22 
23 #include <sdf/Error.hh>
24 #include <sdf/Element.hh>
25 #include <sdf/Noise.hh>
26 #include <sdf/sdf_config.h>
27 
28 
29 namespace sdf
30 {
31  // Inline bracket to help doxygen filtering.
32  inline namespace SDF_VERSION_NAMESPACE {
33  //
34 
106  {
108  public: Lidar();
109 
116  public: Errors Load(ElementPtr _sdf);
117 
122  public: sdf::ElementPtr Element() const;
123 
127  public: unsigned int HorizontalScanSamples() const;
128 
132  public: void SetHorizontalScanSamples(unsigned int _samples);
133 
136  public: double HorizontalScanResolution() const;
137 
140  public: void SetHorizontalScanResolution(double _res);
141 
144  public: gz::math::Angle HorizontalScanMinAngle() const;
145 
148  public: void SetHorizontalScanMinAngle(const gz::math::Angle &_min);
149 
152  public: gz::math::Angle HorizontalScanMaxAngle() const;
153 
156  public: void SetHorizontalScanMaxAngle(const gz::math::Angle &_max);
157 
161  public: unsigned int VerticalScanSamples() const;
162 
166  public: void SetVerticalScanSamples(unsigned int _samples);
167 
170  public: double VerticalScanResolution() const;
171 
174  public: void SetVerticalScanResolution(double _res);
175 
178  public: gz::math::Angle VerticalScanMinAngle() const;
179 
182  public: void SetVerticalScanMinAngle(const gz::math::Angle &_min);
183 
186  public: gz::math::Angle VerticalScanMaxAngle() const;
187 
190  public: void SetVerticalScanMaxAngle(const gz::math::Angle &_max);
191 
194  public: double RangeMin() const;
195 
198  public: void SetRangeMin(double _min);
199 
202  public: double RangeMax() const;
203 
206  public: void SetRangeMax(double _max);
207 
210  public: double RangeResolution() const;
211 
214  public: void SetRangeResolution(double _range);
215 
218  public: const Noise &LidarNoise() const;
219 
222  public: void SetLidarNoise(const Noise &_noise);
223 
226  public: uint32_t VisibilityMask() const;
227 
230  public: void SetVisibilityMask(uint32_t _mask);
231 
235  public: bool operator==(const Lidar &_lidar) const;
236 
241  public: bool operator!=(const Lidar &_lidar) const;
242 
248  public: sdf::ElementPtr ToElement() const;
249 
251  GZ_UTILS_IMPL_PTR(dataPtr)
252  };
253  }
254 }
255 #endif
Error.hh
Noise.hh
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::SDF_VERSION_NAMESPACE::Lidar
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:105
sdf::SDF_VERSION_NAMESPACE::Noise
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:47
sdf::SDF_VERSION_NAMESPACE::Element
class GZ_SDFORMAT_VISIBLE Element
Definition: Element.hh:51
sdf::SDF_VERSION_NAMESPACE::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:80
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
Element.hh