Lidar contains information about a Lidar sensor. More...

#include <Lidar.hh>

Public Member Functions
	Lidar ()
	Default constructor.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.

gz::math::Angle	HorizontalScanMaxAngle () const
	Get the maximum angle for horizontal scan.

gz::math::Angle	HorizontalScanMinAngle () const
	Get the minimum angle for horizontal scan.

double	HorizontalScanResolution () const
	Get the resolution for horizontal scan.

unsigned int	HorizontalScanSamples () const
	Get the number of lidar rays horizontally to generate per laser sweep.

const Noise &	LidarNoise () const
	Get the noise values for the lidar sensor.

Errors	Load (ElementPtr _sdf)
	Load the lidar based on an element pointer.

bool	operator!= (const Lidar &_lidar) const
	Return true this Lidar object does not contain the same values as the passed in parameter.

bool	operator== (const Lidar &_lidar) const
	Return true if both Lidar objects contain the same values.

double	RangeMax () const
	Get maximum distance for each lidar ray.

double	RangeMin () const
	Get minimum distance for each lidar ray.

double	RangeResolution () const
	Get linear resolution of each lidar ray.

void	SetHorizontalScanMaxAngle (const gz::math::Angle &_max)
	Set the maximum angle for horizontal scan.

void	SetHorizontalScanMinAngle (const gz::math::Angle &_min)
	Set the minimum angle for horizontal scan.

void	SetHorizontalScanResolution (double _res)
	Set the resolution for horizontal scan.

void	SetHorizontalScanSamples (unsigned int _samples)
	Set the number of lidar rays horizontally to generate per laser sweep.

void	SetLidarNoise (const Noise &_noise)
	\biref Set the noise values for the lidar sensor.

void	SetRangeMax (double _max)
	Set maximum distance for each lidar ray.

void	SetRangeMin (double _min)
	Set minimum distance for each lidar ray.

void	SetRangeResolution (double _range)
	Set linear resolution of each lidar ray.

void	SetVerticalScanMaxAngle (const gz::math::Angle &_max)
	Set the maximum angle for vertical scan.

void	SetVerticalScanMinAngle (const gz::math::Angle &_min)
	Set the minimum angle for vertical scan.

void	SetVerticalScanResolution (double _res)
	Set the resolution for vertical scan.

void	SetVerticalScanSamples (unsigned int _samples)
	Set the number of lidar rays vertically to generate per laser sweep.

void	SetVisibilityMask (uint32_t _mask)
	Set the visibility mask of a lidar.

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this lidar.

gz::math::Angle	VerticalScanMaxAngle () const
	Get the maximum angle for vertical scan.

gz::math::Angle	VerticalScanMinAngle () const
	Get the minimum angle for vertical scan.

double	VerticalScanResolution () const
	Get the resolution for vertical scan.

unsigned int	VerticalScanSamples () const
	Get the number of lidar rays vertically to generate per laser sweep.

uint32_t	VisibilityMask () const
	Get the visibility mask of a lidar.

Detailed Description

Lidar contains information about a Lidar sensor.

This sensor can be attached to a link. The Lidar sensor can be defined SDF XML using either the "ray" or "lidar" types. The "lidar" type is preffered as "ray" is considered legacy.

Example SDF XML using lidar type:

<sensor name="lidar_sensor" type="lidar">
    <pose>1 2 3 0 0 0</pose>
    <lidar>
        <scan>
            <horizontal>
                <samples>320</samples>
                <resolution>0.9</resolution>
                <min_angle>1.75</min_angle>
                <max_angle>2.94</max_angle>
            </horizontal>
            <vertical>
                <samples>240</samples>
                <resolution>0.8</resolution>
                <min_angle>2.75</min_angle>
                <max_angle>3.94</max_angle>
            </vertical>
        </scan>
        <range>
            <min>1.23</min>
            <max>4.56</max>
            <resolution>7.89</resolution>
        </range>
        <noise type="gaussian">
            <mean>0.98</mean>
            <stddev>0.76</stddev>
        </noise>
    </lidar>
</sensor>

Example SDF XML using ray type:

<sensor name="ray_sensor" type="lidar">
    <pose>1 2 3 0 0 0</pose>
    <ray>
        <scan>
            <horizontal>
                <samples>320</samples>
                <resolution>0.9</resolution>
                <min_angle>1.75</min_angle>
                <max_angle>2.94</max_angle>
            </horizontal>
            <vertical>
                <samples>240</samples>
                <resolution>0.8</resolution>
                <min_angle>2.75</min_angle>
                <max_angle>3.94</max_angle>
            </vertical>
        </scan>
        <range>
            <min>1.23</min>
            <max>4.56</max>
            <resolution>7.89</resolution>
        </range>
        <noise type="gaussian">
            <mean>0.98</mean>
            <stddev>0.76</stddev>
        </noise>
    </ray>
</sensor>

Constructor & Destructor Documentation

◆ Lidar()

sdf::SDF_VERSION_NAMESPACE::Lidar::Lidar ( )

Default constructor.

Member Function Documentation

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Lidar::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ HorizontalScanMaxAngle()

gz::math::Angle sdf::SDF_VERSION_NAMESPACE::Lidar::HorizontalScanMaxAngle ( ) const

Get the maximum angle for horizontal scan.

Returns: Maximum angle for horizontal scan.

◆ HorizontalScanMinAngle()

gz::math::Angle sdf::SDF_VERSION_NAMESPACE::Lidar::HorizontalScanMinAngle ( ) const

Get the minimum angle for horizontal scan.

Returns: Minimum angle for horizontal scan.

◆ HorizontalScanResolution()

double sdf::SDF_VERSION_NAMESPACE::Lidar::HorizontalScanResolution ( ) const

Get the resolution for horizontal scan.

Returns: Resolution for horizontal scan.

◆ HorizontalScanSamples()

unsigned int sdf::SDF_VERSION_NAMESPACE::Lidar::HorizontalScanSamples ( ) const

Get the number of lidar rays horizontally to generate per laser sweep.

Returns: Number of lidar rays horizontally per laser sweep.

◆ LidarNoise()

const Noise & sdf::SDF_VERSION_NAMESPACE::Lidar::LidarNoise ( ) const

Get the noise values for the lidar sensor.

Returns: Noise values for the lidar sensor.

◆ Load()

Errors sdf::SDF_VERSION_NAMESPACE::Lidar::Load ( ElementPtr _sdf )

Load the lidar based on an element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in] _sdf The SDF Element pointer

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ operator!=()

bool sdf::SDF_VERSION_NAMESPACE::Lidar::operator!= ( const Lidar & _lidar ) const

Return true this Lidar object does not contain the same values as the passed in parameter.

Parameters

[_in] _lidar Lidar value to compare.

Returns: True if 'this' != _lidar.

◆ operator==()

bool sdf::SDF_VERSION_NAMESPACE::Lidar::operator== ( const Lidar & _lidar ) const

Return true if both Lidar objects contain the same values.

Parameters

[_in] _lidar Lidar value to compare.

Returns: True if 'this' == _lidar.

◆ RangeMax()

double sdf::SDF_VERSION_NAMESPACE::Lidar::RangeMax ( ) const

Get maximum distance for each lidar ray.

Returns: Maximum distance for each lidar ray.

◆ RangeMin()

double sdf::SDF_VERSION_NAMESPACE::Lidar::RangeMin ( ) const

Get minimum distance for each lidar ray.

Returns: Minimum distance for each lidar ray.

◆ RangeResolution()

double sdf::SDF_VERSION_NAMESPACE::Lidar::RangeResolution ( ) const

Get linear resolution of each lidar ray.

Returns: Linear resolution for each lidar ray.

◆ SetHorizontalScanMaxAngle()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetHorizontalScanMaxAngle ( const gz::math::Angle & _max )

Set the maximum angle for horizontal scan.

Parameters

[in] Maximum angle for horizontal scan.

◆ SetHorizontalScanMinAngle()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetHorizontalScanMinAngle ( const gz::math::Angle & _min )

Set the minimum angle for horizontal scan.

Parameters

[in] Minimum angle for horizontal scan.

◆ SetHorizontalScanResolution()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetHorizontalScanResolution ( double _res )

Set the resolution for horizontal scan.

Parameters

[in] Resolution for horizontal scan.

◆ SetHorizontalScanSamples()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetHorizontalScanSamples ( unsigned int _samples )

Set the number of lidar rays horizontally to generate per laser sweep.

Parameters

[in] Number of lidar rays horizontally per laser sweep.

◆ SetLidarNoise()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetLidarNoise ( const Noise & _noise )

\biref Set the noise values for the lidar sensor.

Parameters

[in] _noise Noise values for the lidar sensor.

◆ SetRangeMax()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetRangeMax ( double _max )

Set maximum distance for each lidar ray.

Parameters

[in] Maximum distance for each lidar ray.

◆ SetRangeMin()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetRangeMin ( double _min )

Set minimum distance for each lidar ray.

Parameters

[in] Minimum distance for each lidar ray.

◆ SetRangeResolution()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetRangeResolution ( double _range )

Set linear resolution of each lidar ray.

Parameters

[in] Linear resolution for each lidar ray.

◆ SetVerticalScanMaxAngle()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetVerticalScanMaxAngle ( const gz::math::Angle & _max )

Set the maximum angle for vertical scan.

Parameters

[in] Maximum angle for vertical scan.

◆ SetVerticalScanMinAngle()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetVerticalScanMinAngle ( const gz::math::Angle & _min )

Set the minimum angle for vertical scan.

Parameters

[in] Minimum angle for vertical scan.

◆ SetVerticalScanResolution()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetVerticalScanResolution ( double _res )

Set the resolution for vertical scan.

Parameters

[in] Resolution for vertical scan.

◆ SetVerticalScanSamples()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetVerticalScanSamples ( unsigned int _samples )

Set the number of lidar rays vertically to generate per laser sweep.

Parameters

[in] Number of lidar rays vertically per laser sweep.

◆ SetVisibilityMask()

void sdf::SDF_VERSION_NAMESPACE::Lidar::SetVisibilityMask ( uint32_t _mask )

Set the visibility mask of a lidar.

Parameters

[in] _mask visibility mask

◆ ToElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Lidar::ToElement ( ) const

Create and return an SDF element filled with data from this lidar.

Note that parameter passing functionality is not captured with this function.

Returns: SDF element pointer with updated sensor values.

◆ VerticalScanMaxAngle()

gz::math::Angle sdf::SDF_VERSION_NAMESPACE::Lidar::VerticalScanMaxAngle ( ) const

Get the maximum angle for vertical scan.

Returns: Maximum angle for vertical scan.

◆ VerticalScanMinAngle()

gz::math::Angle sdf::SDF_VERSION_NAMESPACE::Lidar::VerticalScanMinAngle ( ) const

Get the minimum angle for vertical scan.

Returns: Minimum angle for vertical scan.

◆ VerticalScanResolution()

double sdf::SDF_VERSION_NAMESPACE::Lidar::VerticalScanResolution ( ) const

Get the resolution for vertical scan.

Returns: Resolution for vertical scan.

◆ VerticalScanSamples()

unsigned int sdf::SDF_VERSION_NAMESPACE::Lidar::VerticalScanSamples ( ) const

Get the number of lidar rays vertically to generate per laser sweep.

Returns: Number of lidar rays vertically per laser sweep.

◆ VisibilityMask()

uint32_t sdf::SDF_VERSION_NAMESPACE::Lidar::VisibilityMask ( ) const

Get the visibility mask of a lidar.

Returns: visibility mask

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

Lidar.hh

Public Member Functions

Detailed Description

Example SDF XML using lidar type:

Example SDF XML using ray type:

Constructor & Destructor Documentation

◆ Lidar()

Member Function Documentation

◆ Element()

◆ HorizontalScanMaxAngle()

◆ HorizontalScanMinAngle()

◆ HorizontalScanResolution()

◆ HorizontalScanSamples()

◆ LidarNoise()

◆ Load()

◆ operator!=()

◆ operator==()

◆ RangeMax()

◆ RangeMin()

◆ RangeResolution()

◆ SetHorizontalScanMaxAngle()

◆ SetHorizontalScanMinAngle()

◆ SetHorizontalScanResolution()

◆ SetHorizontalScanSamples()

◆ SetLidarNoise()

◆ SetRangeMax()

◆ SetRangeMin()

◆ SetRangeResolution()

◆ SetVerticalScanMaxAngle()

◆ SetVerticalScanMinAngle()

◆ SetVerticalScanResolution()

◆ SetVerticalScanSamples()

◆ SetVisibilityMask()

◆ ToElement()

◆ VerticalScanMaxAngle()

◆ VerticalScanMinAngle()

◆ VerticalScanResolution()

◆ VerticalScanSamples()

◆ VisibilityMask()