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| GpuLidarSensor () |
| constructor More...
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virtual | ~GpuLidarSensor () |
| destructor More...
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virtual gz::common::ConnectionPtr | ConnectNewLidarFrame (std::function< void(const float *_scan, unsigned int _width, unsigned int _heighti, unsigned int _channels, const std::string &)> _subscriber) override |
| Connect function pointer to internal GpuRays callback. More...
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virtual bool | CreateLidar () override |
| Create Lidar sensor. More...
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gz::rendering::GpuRaysPtr | GpuRays () const |
| Get Gpu Rays object used in the sensor. More...
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gz::math::Angle | HFOV () const |
| Get the horizontal field of view of the laser sensor. More...
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virtual bool | Init () override |
| Initialize values in the sensor. More...
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bool | IsHorizontal () const |
| Gets if sensor is horizontal. More...
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virtual bool | Load (const sdf::Sensor &_sdf) override |
| Load the sensor based on data from an sdf::Sensor object. More...
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virtual bool | Load (sdf::ElementPtr _sdf) override |
| Load sensor sata from SDF. More...
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double | RayCountRatio () const |
| Return the ratio of horizontal ray count to vertical ray count. More...
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void | RemoveGpuRays (gz::rendering::ScenePtr _scene) |
| Remove sensor from scene. More...
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void | SetScene (gz::rendering::ScenePtr _scene) override |
| Makes possible to change sensor scene. More...
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virtual bool | Update (const common::Time &_now) override |
| Force the sensor to generate data. More...
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gz::math::Angle | VFOV () const |
| Get the vertical field-of-view. More...
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| Lidar () |
| constructor More...
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virtual | ~Lidar () |
| destructor More...
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gz::math::Angle | AngleMax () const |
| Get the maximum angle. More...
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gz::math::Angle | AngleMin () const |
| Get the minimum angle. More...
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double | AngleResolution () const |
| Get radians between each range. More...
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void | ApplyNoise () |
| Apply noise to the laser buffer, if noise has been configured. This should be called before PublishLidarScan if you want the scan data to contain noise. More...
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int | Fiducial (const unsigned int _index) const |
| Get detected fiducial value for a ray. Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor loop> SetActive(true). More...
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double | HorzFOV () const |
| Get the horizontal field of view of the laser sensor. More...
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virtual bool | IsActive () const |
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bool | IsHorizontal () const |
| Gets if sensor is horizontal. More...
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virtual bool | PublishLidarScan (const common::Time &_now) |
| Publish LaserScan message. More...
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double | Range (const int _index) const |
| Get detected range for a ray. Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor loop> SetActive(true). More...
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unsigned int | RangeCount () const |
| Get the range count. More...
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double | RangeCountRatio () const |
| Return the ratio of horizontal range count to vertical range count. More...
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double | RangeMax () const |
| Get the maximum range. More...
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double | RangeMin () const |
| Get the minimum range. More...
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double | RangeResolution () const |
| Get the range resolution If RangeResolution is 1, the number of simulated rays is equal to the number of returned range readings. If it's less than 1, fewer simulated rays than actual returned range readings are used, the results are interpolated from two nearest neighbors, and vice versa. More...
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void | Ranges (std::vector< double > &_ranges) const |
| Get all the ranges. More...
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unsigned int | RayCount () const |
| Get the ray count. More...
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double | RayCountRatio () const |
| Return the ratio of horizontal ray count to vertical ray count. More...
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double | Retro (const int _index) const |
| Get detected retro (intensity) value for a ray. Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor loop> SetActive(true). More...
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void | SetAngleMax (const double _angle) |
| Set the scan maximum angle. More...
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void | SetAngleMin (const double _angle) |
| Set the scan minimum angle. More...
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void | SetParent (const std::string &_parent) override |
| Initialize values in the sensor. More...
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void | SetVerticalAngleMax (const double _angle) |
| Set the vertical scan line top angle. More...
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void | SetVerticalAngleMin (const double _angle) |
| Set the vertical scan bottom angle. More...
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double | VertFOV () const |
| Get the vertical field-of-view. More...
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gz::math::Angle | VerticalAngleMax () const |
| Get the vertical scan line top angle. More...
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gz::math::Angle | VerticalAngleMin () const |
| Get the vertical scan bottom angle. More...
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double | VerticalAngleResolution () const |
| Get the vertical angle in radians between each range. More...
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unsigned int | VerticalRangeCount () const |
| Get the vertical scan line count. More...
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unsigned int | VerticalRayCount () const |
| Get the vertical scan line count. More...
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virtual | ~RenderingSensor () |
| destructor More...
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bool | ManualSceneUpdate () const |
| Get whether the scene graph is updated manually. Defaults to false. More...
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void | Render () |
| Render update. This performs the actual render operation. More...
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rendering::ScenePtr | Scene () const |
| Get the rendering scene. More...
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void | SetManualSceneUpdate (bool _manual) |
| Set whether to update the scene graph manually. If set to true, it is expected that rendering::Scene::PreRender is called manually before calling Render() More...
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virtual void | SetScene (rendering::ScenePtr _scene) |
| Set the rendering scene. More...
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virtual | ~Sensor () |
| destructor More...
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void | AddSequence (gz::msgs::Header *_msg, const std::string &_seqKey="default") |
| Add a sequence number to an 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. More...
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bool | EnableMetrics () const |
| Get flag state for enabling performance metrics publication. More...
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std::string | FrameId () const |
| FrameId. More...
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SensorId | Id () const |
| Get the sensor's ID. More...
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std::string | Name () const |
| Get name. More...
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common::Time | NextUpdateTime () const |
| Return the next time the sensor will generate data. More...
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std::string | Parent () const |
| Get parent link of the sensor. More...
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gz::math::Pose3d | Pose () const |
| Get the current pose. More...
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void | PublishMetrics (const std::chrono::duration< double > &_now) |
| Publishes information about the performance of the sensor. This method is called by Update(). More...
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sdf::ElementPtr | SDF () const |
| Get the SDF used to load this sensor. More...
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void | SetEnableMetrics (bool _enableMetrics) |
| Set flag to enable publishing performance metrics. More...
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void | SetFrameId (const std::string &_frameId) |
| Set Frame ID of the sensor. More...
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void | SetPose (const gz::math::Pose3d &_pose) |
| Update the pose of the sensor. More...
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bool | SetTopic (const std::string &_topic) |
| Set topic where sensor data is published. More...
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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. \detail Negative rates become zero. More...
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std::string | Topic () const |
| Get topic where sensor data is published. More...
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bool | Update (const common::Time &_now, const bool _force) |
| Update the sensor. More...
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double | UpdateRate () const |
| Get the update rate of the sensor. More...
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GpuLidar Sensor Class.
This class creates laser scans using the GPU. It's measures the range from the origin of the center to points on the visual geometry in the scene.
It offers both an ignition-transport interface and a direct C++ API to access the image data. The API works by setting a callback to be called with image data.