CPU-based lidar sensor that performs ray casting without depending on gz-rendering. More...

#include <CpuLidarSensor.hh>

Classes
struct	RayResult
	Result of a single ray cast. More...

Public Member Functions
	CpuLidarSensor ()
	constructor

virtual	~CpuLidarSensor ()
	destructor

gz::math::Angle	AngleMax () const
	Get the maximum horizontal angle.

gz::math::Angle	AngleMin () const
	Get the minimum horizontal angle.

std::vector< std::pair< gz::math::Vector3d, gz::math::Vector3d > >	GenerateRays () const
	Generate rays from the lidar configuration.

virtual bool	HasConnections () const override
	Check if there are any subscribers.

virtual bool	Load (const sdf::Sensor &_sdf) override
	Load the sensor based on data from an sdf::Sensor object.

virtual bool	Load (sdf::ElementPtr _sdf) override
	Load the sensor with SDF parameters.

double	RangeMax () const
	Get the maximum range.

double	RangeMin () const
	Get the minimum range.

void	Ranges (std::vector< double > &_ranges) const
	Get all range values.

unsigned int	RayCount () const
	Get the horizontal ray count.

void	SetRaycastResults (const std::vector< RayResult > &_results)
	Set the raycast results from the physics engine.

virtual bool	Update (const std::chrono::steady_clock::duration &_now) override
	Update the sensor and generate data.

virtual bool	Update (const std::chrono::steady_clock::duration &_now)=0
	Force the sensor to generate data.

bool	Update (const std::chrono::steady_clock::duration &_now, const bool _force)
	Update the sensor.

gz::math::Angle	VerticalAngleMax () const
	Get the maximum vertical angle.

gz::math::Angle	VerticalAngleMin () const
	Get the minimum vertical angle.

unsigned int	VerticalRayCount () const
	Get the vertical ray count.

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor

void	AddSequence (gz::msgs::Header *_msg, const std::string &_seqKey="default")
	Add a sequence number to a gz::msgs::Header. This function can be called by a sensor that wants to add a sequence number to a sensor message in order to have improved accountability for generated sensor data.

bool	EnableMetrics () const
	Get flag state for enabling performance metrics publication.

const std::string &	FrameId () const
	FrameId.

bool	HasPendingTrigger () const
	Whether the sensor has a pending trigger.

SensorId	Id () const
	Get the sensor's ID.

virtual bool	Init ()
	Initialize values in the sensor This will set the next update time to zero. This is particularly useful if simulation time has jumped backward, for example during a seek backward in a log file.

bool	IsActive () const
	Get whether the sensor is enabled or not.

bool	IsTriggered () const
	Whether the sensor trigger mode is enabled.

const std::string &	Name () const
	Get name.

std::chrono::steady_clock::duration	NextDataUpdateTime () const
	Return the next time the sensor will generate data.

const std::string &	Parent () const
	Get parent link of the sensor.

gz::math::Pose3d	Pose () const
	Get the current pose.

void	PublishMetrics (const std::chrono::duration< double > &_now)
	Publishes information about the performance of the sensor. This method is called by Update().

sdf::ElementPtr	SDF () const
	Get the SDF used to load this sensor.

void	SetActive (bool _active)
	Enable or disable the sensor. Disabled sensors will not generate or publish data unless Update is called with the '_force' argument set to true.

void	SetEnableMetrics (bool _enableMetrics)
	Set flag to enable publishing performance metrics.

void	SetFrameId (const std::string &_frameId)
	Set Frame ID of the sensor.

void	SetNextDataUpdateTime (const std::chrono::steady_clock::duration &_time)
	Manually set the next time the sensor will generate data Useful for accomodating jumps backwards in time as well as specifying updates for non-uniformly updating sensors.

virtual void	SetParent (const std::string &_parent)
	Set the parent of the sensor.

void	SetPose (const gz::math::Pose3d &_pose)
	Update the pose of the sensor.

bool	SetTopic (const std::string &_topic)
	Set topic where sensor data is published.

bool	SetTriggered (bool _triggered, const std::string &_triggerTopic="")
	Enable or disable triggered mode. In this mode,.

void	SetUpdateRate (const double _hz)
	Set the update rate of the sensor. An update rate of zero means that the sensor is updated every cycle. It's zero by default.

const std::string &	Topic () const
	Get topic where sensor data is published.

bool	Update (const std::chrono::steady_clock::duration &_now, const bool _force)
	Update the sensor.

double	UpdateRate () const
	Get the update rate of the sensor.

Additional Inherited Members
Protected Member Functions inherited from Sensor
	Sensor ()
	constructor

Detailed Description

CPU-based lidar sensor that performs ray casting without depending on gz-rendering.

Constructor & Destructor Documentation

◆ CpuLidarSensor()

CpuLidarSensor ( )

constructor

◆ ~CpuLidarSensor()

virtual ~CpuLidarSensor ( )

virtual

destructor

Member Function Documentation

◆ AngleMax()

gz::math::Angle AngleMax ( ) const

Get the maximum horizontal angle.

◆ AngleMin()

gz::math::Angle AngleMin ( ) const

Get the minimum horizontal angle.

◆ GenerateRays()

std::vector< std::pair< gz::math::Vector3d, gz::math::Vector3d > > GenerateRays ( ) const

Generate rays from the lidar configuration.

Returns: Vector of (start, end) pairs in entity frame

◆ HasConnections()

virtual bool HasConnections ( ) const

overridevirtual

Check if there are any subscribers.

Returns: True if there are subscribers, false otherwise

Reimplemented from Sensor.

◆ Load() [1/2]

virtual bool Load ( const sdf::Sensor & _sdf )

overridevirtual

Load the sensor based on data from an sdf::Sensor object.

Parameters

[in] _sdf SDF Sensor parameters.

Returns: true if loading was successful

Reimplemented from Sensor.

◆ Load() [2/2]

virtual bool Load ( sdf::ElementPtr _sdf )

overridevirtual

Load the sensor with SDF parameters.

Parameters

[in] _sdf SDF Sensor parameters.

Returns: true if loading was successful

Reimplemented from Sensor.

◆ RangeMax()

double RangeMax ( ) const

Get the maximum range.

◆ RangeMin()

double RangeMin ( ) const

Get the minimum range.

◆ Ranges()

void Ranges ( std::vector< double > & _ranges ) const

Get all range values.

Parameters

[out] _ranges Vector to fill with range data.

◆ RayCount()

unsigned int RayCount ( ) const

Get the horizontal ray count.

◆ SetRaycastResults()

void SetRaycastResults ( const std::vector< RayResult > & _results )

Set the raycast results from the physics engine.

Parameters

[in] _results Vector of results, one per ray.

◆ Update() [1/3]

virtual bool Update ( const std::chrono::steady_clock::duration & _now )

overridevirtual

Update the sensor and generate data.

Parameters

[in] _now The current time

Returns: true if the update was successful

Implements Sensor.

◆ Update() [2/3]

virtual bool Update ( const std::chrono::steady_clock::duration & _now )

virtual

Force the sensor to generate data.

This method must be overridden by sensors. Subclasses should not not make a decision about whether or not they need to update. The Sensor class will make sure Update() is called at the correct time.

If a subclass wants to have a variable update rate it should call SetUpdateRate().

A subclass should return false if there was an error while updating

Parameters

[in] _now The current time

Returns: true if the update was successfull

See also: SetUpdateRate()

Implements Sensor.

◆ Update() [3/3]

bool Update	(	const std::chrono::steady_clock::duration &	_now,
		const bool	_force
	)

Update the sensor.

This is called by the manager, and is responsible for determining if this sensor needs to generate data at this time. If so, the subclasses' Update() method will be called.

Parameters

[in]	_now	The current time
[in]	_force	Force the update to happen even if it's not time

Returns: True if the update was performed (_force was true or _now >= next_update_time or sensor had a pending trigger) and the sensor's bool Sensor::Update(std::chrono::steady_clock::time_point) function returned true. False otherwise.

Remarks: If forced the NextUpdateTime() will be unchanged.

◆ VerticalAngleMax()

gz::math::Angle VerticalAngleMax ( ) const

Get the maximum vertical angle.

◆ VerticalAngleMin()

gz::math::Angle VerticalAngleMin ( ) const

Get the minimum vertical angle.

◆ VerticalRayCount()

unsigned int VerticalRayCount ( ) const

Get the vertical ray count.

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

CpuLidarSensor.hh

Gazebo Sensors

API Reference

Classes

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CpuLidarSensor()

◆ ~CpuLidarSensor()

Member Function Documentation

◆ AngleMax()

◆ AngleMin()

◆ GenerateRays()

◆ HasConnections()

◆ Load() [1/2]

◆ Load() [2/2]

◆ RangeMax()

◆ RangeMin()

◆ Ranges()

◆ RayCount()

◆ SetRaycastResults()

◆ Update() [1/3]

◆ Update() [2/3]

◆ Update() [3/3]

◆ VerticalAngleMax()

◆ VerticalAngleMin()

◆ VerticalRayCount()