FreeSpaceExplorer Class Reference

This plugin is to be used with a model that has a 2D LiDAR attached to it. It uses this 2d lidar to export an occupancy map of the world. More...

#include <FreeSpaceExplorer.hh>

Public Member Functions
	FreeSpaceExplorer ()
	Constructor.
	~FreeSpaceExplorer () override
	Destructor.
void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &) override
	Documentation inherited.
void	PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override
void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override
	Documentation inherited.
Public Member Functions inherited from System
	System ()=default
	Constructor.
virtual	~System ()=default
	Destructor.
Public Member Functions inherited from ISystemConfigure
virtual	~ISystemConfigure ()=default
Public Member Functions inherited from ISystemPreUpdate
virtual	~ISystemPreUpdate ()=default
Public Member Functions inherited from ISystemPostUpdate
virtual	~ISystemPostUpdate ()=default

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.
Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.
static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

This plugin is to be used with a model that has a 2D LiDAR attached to it. It uses this 2d lidar to export an occupancy map of the world.

System Parameters

This system takes in the following parameters:

• <lidar_topic> - Topic to listen to LiDAR on
• <width> - Number of columns in the occupancy map
• <height> - Number of rows in the occupancy map
• <resolution> - Resolution of an individual cell
• <sensor_link> - Link on which the sensor is attached within the model.
• <image_topic> - Topic to publish occupancy map on
• <start_topic> - Topic to listen on before starting exploration.

Note: It is assumed the sensor does not implement any pose offset from the link itself. This may of may not be true. and should be fixed in a future release.

Constructor & Destructor Documentation

FreeSpaceExplorer()

FreeSpaceExplorer

(

)

Constructor.

~FreeSpaceExplorer()

~FreeSpaceExplorer ( )

override

Destructor.

Member Function Documentation

Configure()

void Configure ( const Entity &  _entity, const std::shared_ptr< const sdf::Element > &  _sdf, EntityComponentManager &  _ecm, EventManager &    )

overridevirtual

Documentation inherited.

Implements ISystemConfigure.

PostUpdate()

void PostUpdate ( const UpdateInfo &  _info, const EntityComponentManager &  _ecm  )

overridevirtual

Implements ISystemPostUpdate.

PreUpdate()

void PreUpdate ( const UpdateInfo &  _info, EntityComponentManager &  _ecm  )

overridevirtual

Documentation inherited.

Implements ISystemPreUpdate.

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

• FreeSpaceExplorer.hh