Lidar Sensor Class. More...

#include <Lidar.hh>

Public Member Functions
	Lidar ()
	constructor More...

virtual	~Lidar ()
	destructor More...

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

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

double	AngleResolution () const
	Get radians between each range. More...

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...

virtual gz::common::ConnectionPtr	ConnectNewLidarFrame (std::function< void(const float *_scan, unsigned int _width, unsigned int _heighti, unsigned int _channels, const std::string &)> _subscriber)
	Set a callback to be called when data is generated. More...

virtual bool	CreateLidar ()
	Create Lidar sensor. More...

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...

virtual bool	HasConnections () const override
	Check if there are any subscribers for sensor data. More...

double	HorzFOV () const
	Get the horizontal field of view of the laser sensor. More...

virtual bool	Init () override
	Initialize values in the sensor. More...

virtual bool	IsActive () const

bool	IsHorizontal () const
	Gets if sensor is horizontal. More...

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

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

virtual bool	PublishLidarScan (const std::chrono::steady_clock::duration &_now)
	Publish LaserScan message. More...

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...

unsigned int	RangeCount () const
	Get the range count. More...

double	RangeCountRatio () const
	Return the ratio of horizontal range count to vertical range count. More...

double	RangeMax () const
	Get the maximum range. More...

double	RangeMin () const
	Get the minimum range. More...

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...

void	Ranges (std::vector< double > &_ranges) const
	Get all the ranges. More...

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

double	RayCountRatio () const
	Return the ratio of horizontal ray count to vertical ray count. More...

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...

void	SetAngleMax (const double _angle)
	Set the scan maximum angle. More...

void	SetAngleMin (const double _angle)
	Set the scan minimum angle. More...

void	SetParent (const std::string &_parent) override
	Initialize values in the sensor. More...

void	SetVerticalAngleMax (const double _angle)
	Set the vertical scan line top angle. More...

void	SetVerticalAngleMin (const double _angle)
	Set the vertical scan bottom angle. More...

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

double	VertFOV () const
	Get the vertical field-of-view. More...

gz::math::Angle	VerticalAngleMax () const
	Get the vertical scan line top angle. More...

gz::math::Angle	VerticalAngleMin () const
	Get the vertical scan bottom angle. More...

double	VerticalAngleResolution () const
	Get the vertical angle in radians between each range. More...

unsigned int	VerticalRangeCount () const
	Get the vertical scan line count. More...

unsigned int	VerticalRayCount () const
	Get the vertical scan line count. More...

uint32_t	VisibilityMask () const
	Get the visibility mask. More...

Public Member Functions inherited from RenderingSensor
virtual	~RenderingSensor ()
	destructor More...

bool	ManualSceneUpdate () const
	Get whether the scene graph is updated manually. Defaults to false. More...

void	Render ()
	Render update. This performs the actual render operation. More...

rendering::ScenePtr	Scene () const
	Get the rendering scene. More...

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...

virtual void	SetScene (rendering::ScenePtr _scene)
	Set the rendering scene. More...

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

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. More...

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

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

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

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

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

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

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

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

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

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

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

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

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. More...

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

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

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. More...

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

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

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

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. More...

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

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

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

Public Attributes
bool	initialized = false
	true if Load() has been called and was successful More...

float *	laserBuffer = nullptr
	Raw buffer of laser data. More...

std::mutex	lidarMutex
	Just a mutex for thread safety. More...

Protected Member Functions
virtual void	Fini ()
	Finalize the ray. More...

Protected Member Functions inherited from RenderingSensor
	RenderingSensor ()
	constructor More...

void	AddSensor (rendering::SensorPtr _sensor)
	Add a rendering::Sensor. Its render updates will be handled by this base class. More...

Protected Member Functions inherited from Sensor
	Sensor ()
	constructor More...

Detailed Description

Lidar Sensor Class.

This class creates laser scans using. It's measures the range from the origin of the center to points on the visual geometry in the scene.

It offers both a gz-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.

Constructor & Destructor Documentation

◆ Lidar()

Lidar ( )

constructor

◆ ~Lidar()

virtual ~Lidar ( )

virtual

destructor

Member Function Documentation

◆ AngleMax()

gz::math::Angle AngleMax ( ) const

Get the maximum angle.

Returns: the maximum angle

◆ AngleMin()

gz::math::Angle AngleMin ( ) const

Get the minimum angle.

Returns: The minimum angle

◆ AngleResolution()

double AngleResolution ( ) const

Get radians between each range.

Returns: Return angle resolution

◆ ApplyNoise()

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.

◆ ConnectNewLidarFrame()

virtual gz::common::ConnectionPtr ConnectNewLidarFrame ( std::function< void(const float *_scan, unsigned int _width, unsigned int _heighti, unsigned int _channels, const std::string &)> _subscriber )

virtual

Set a callback to be called when data is generated.

Parameters

[in] _subscriber This callback will be called every time the sensor generates data. The Update function will be blocked while the callbacks are executed.

Remarks: Do not block inside of the callback.

Returns: A connection pointer that must remain in scope. When the connection pointer falls out of scope, the connection is broken.

Reimplemented in GpuLidarSensor.

◆ CreateLidar()

virtual bool CreateLidar ( )

virtual

Create Lidar sensor.

Reimplemented in GpuLidarSensor.

◆ Fiducial()

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).

Parameters

[in] _index Index of specific ray

Returns: Fiducial value of ray

◆ Fini()

virtual void Fini ( )

protectedvirtual

Finalize the ray.

◆ HasConnections()

virtual bool HasConnections ( ) const

overridevirtual

Check if there are any subscribers for sensor data.

Returns: True if there are subscribers, false otherwise

Reimplemented from Sensor.

Reimplemented in GpuLidarSensor.

◆ HorzFOV()

double HorzFOV ( ) const

Get the horizontal field of view of the laser sensor.

Returns: The horizontal field of view of the laser sensor.

◆ Init()

virtual bool Init ( )

overridevirtual

Initialize values in the sensor.

Returns: True on success

Reimplemented from Sensor.

Reimplemented in GpuLidarSensor.

◆ IsActive()

virtual bool IsActive ( ) const

virtual

◆ IsHorizontal()

bool IsHorizontal ( ) const

Gets if sensor is horizontal.

Returns: True if horizontal, false if not

◆ 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.

Reimplemented in GpuLidarSensor.

◆ 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.

Reimplemented in GpuLidarSensor.

◆ PublishLidarScan()

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

virtual

Publish LaserScan message.

Parameters

[in] _now The current time

Returns: true if the update was successfull

◆ Range()

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).

Parameters

[in] _index Index of specific ray

Returns: Returns RangeMax for no detection.

◆ RangeCount()

unsigned int RangeCount ( ) const

Get the range count.

Returns: The number of ranges

◆ RangeCountRatio()

double RangeCountRatio ( ) const

Return the ratio of horizontal range count to vertical range count.

A ray count is the number of simulated rays. Whereas a range count is the total number of data points returned. When range count != ray count, then values are interpolated between rays.

◆ RangeMax()

double RangeMax ( ) const

Get the maximum range.

Returns: The maximum range

◆ RangeMin()

double RangeMin ( ) const

Get the minimum range.

Returns: The minimum range

◆ RangeResolution()

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.

Returns: The Range Resolution

◆ Ranges()

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

Get all the ranges.

Parameters

[out] _ranges A vector that will contain all the range data

◆ RayCount()

unsigned int RayCount ( ) const

Get the ray count.

Returns: The number of rays

◆ RayCountRatio()

double RayCountRatio ( ) const

Return the ratio of horizontal ray count to vertical ray count.

A ray count is the number of simulated rays. Whereas a range count is the total number of data points returned. When range count != ray count, then values are interpolated between rays.

◆ Retro()

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).

Parameters

[in] _index Index of specific ray

Returns: Intensity value of ray

◆ SetAngleMax()

void SetAngleMax ( const double _angle )

Set the scan maximum angle.

Parameters

[in] _angle The maximum angle

◆ SetAngleMin()

void SetAngleMin ( const double _angle )

Set the scan minimum angle.

Parameters

[in] _angle The minimum angle

◆ SetParent()

void SetParent ( const std::string & _parent )

overridevirtual

Initialize values in the sensor.

Parameters

[in] _parent Name of parent

Reimplemented from Sensor.

◆ SetVerticalAngleMax()

void SetVerticalAngleMax ( const double _angle )

Set the vertical scan line top angle.

Parameters

[in] _angle The Maximum angle of the scan block

◆ SetVerticalAngleMin()

void SetVerticalAngleMin ( const double _angle )

Set the vertical scan bottom angle.

Parameters

[in] _angle The minimum angle of the scan block

◆ Update()

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

overridevirtual

Force the sensor to generate data.

Parameters

[in] _now The current time

Returns: true if the update was successfull

Implements Sensor.

Reimplemented in GpuLidarSensor.

◆ VertFOV()

double VertFOV ( ) const

Get the vertical field-of-view.

Returns: Vertical field of view.

◆ VerticalAngleMax()

gz::math::Angle VerticalAngleMax ( ) const

Get the vertical scan line top angle.

Returns: The Maximum angle of the scan block

◆ VerticalAngleMin()

gz::math::Angle VerticalAngleMin ( ) const

Get the vertical scan bottom angle.

Returns: The minimum angle of the scan block

◆ VerticalAngleResolution()

double VerticalAngleResolution ( ) const

Get the vertical angle in radians between each range.

Returns: Resolution of the angle

◆ VerticalRangeCount()

unsigned int VerticalRangeCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

◆ VerticalRayCount()

unsigned int VerticalRayCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

◆ VisibilityMask()

uint32_t VisibilityMask ( ) const

Get the visibility mask.

Returns: Visibility mask

Member Data Documentation

◆ initialized

bool initialized = false

true if Load() has been called and was successful

◆ laserBuffer

float* laserBuffer = nullptr

Raw buffer of laser data.

◆ lidarMutex

std::mutex lidarMutex

mutable

Just a mutex for thread safety.

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

Lidar.hh

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Lidar()

◆ ~Lidar()

Member Function Documentation

◆ AngleMax()

◆ AngleMin()

◆ AngleResolution()

◆ ApplyNoise()

◆ ConnectNewLidarFrame()

◆ CreateLidar()

◆ Fiducial()

◆ Fini()

◆ HasConnections()

◆ HorzFOV()

◆ Init()

◆ IsActive()

◆ IsHorizontal()

◆ Load() [1/2]

◆ Load() [2/2]

◆ PublishLidarScan()

◆ Range()

◆ RangeCount()

◆ RangeCountRatio()

◆ RangeMax()

◆ RangeMin()

◆ RangeResolution()

◆ Ranges()

◆ RayCount()

◆ RayCountRatio()

◆ Retro()

◆ SetAngleMax()

◆ SetAngleMin()

◆ SetParent()

◆ SetVerticalAngleMax()

◆ SetVerticalAngleMin()

◆ Update()

◆ VertFOV()

◆ VerticalAngleMax()

◆ VerticalAngleMin()

◆ VerticalAngleResolution()

◆ VerticalRangeCount()

◆ VerticalRayCount()

◆ VisibilityMask()

Member Data Documentation

◆ initialized

◆ laserBuffer

◆ lidarMutex