VisualizeLidar Class Reference

Visualize the LaserScan message returned by the sensors. Use the checkbox to turn visualization of non-hitting rays on or off and the textfield to select the message to be visualised. The combobox is used to select the type of visual for the sensor data. More...

#include <VisualizeLidar.hh>

Signals
void	MaxRangeChanged ()
	Notify that maximum range has changed. More...
void	MinRangeChanged ()
	Notify that minimum range has changed. More...
void	TopicListChanged ()
	Notify that topic list has changed. More...

Public Member Functions
	VisualizeLidar ()
	Constructor. More...
	~VisualizeLidar () override
	Destructor. More...
Q_INVOKABLE void	DisplayVisual (bool _value)
	Set whether to display the lidar visual. More...
bool	eventFilter (QObject *_obj, QEvent *_event) override
void	LoadConfig (const tinyxml2::XMLElement *_pluginElem) override
void	LoadLidar ()
	Load the scene and attach LidarVisual to the scene. More...
Q_INVOKABLE QString	MaxRange () const
	Get the maximum range of the lidar sensor (in metres). More...
Q_INVOKABLE QString	MinRange () const
	Get the minimum range of the lidar sensor (in metres). More...
Q_INVOKABLE void	OnRefresh ()
	Callback when refresh button is pressed. More...
void	OnScan (const msgs::LaserScan &_msg)
	Callback function to get data from the message. More...
Q_INVOKABLE void	OnTopic (const QString &_topicName)
	Set topic to subscribe for LidarSensor data. More...
Q_INVOKABLE void	SetTopicList (const QStringList &_topicList)
	Set the topic list from a string, for example 'gz.msgs.StringMsg'. More...
Q_INVOKABLE QStringList	TopicList () const
	Get the topic list as a string. More...
void	Update (const UpdateInfo &, EntityComponentManager &_ecm) override
	Update callback called every time the system is stepped. This is called at a Gazebo Transport thread, so any interaction with Qt should be done through signals and slots. More...
Q_INVOKABLE void	UpdateNonHitting (bool _value)
	Set whether to display non-hitting rays. More...
Q_INVOKABLE void	UpdateSize (int _size)
	Set lidar visualization size. More...
Q_INVOKABLE void	UpdateType (int _type)
	Set visual type of LidarVisual. More...

Properties
QString	maxRange
	Max Range. More...
QString	minRange
	Min Range. More...
QStringList	topicList
	Topic list. More...

Detailed Description

Visualize the LaserScan message returned by the sensors. Use the checkbox to turn visualization of non-hitting rays on or off and the textfield to select the message to be visualised. The combobox is used to select the type of visual for the sensor data.

Constructor & Destructor Documentation

VisualizeLidar()

VisualizeLidar

(

)

Constructor.

~VisualizeLidar()

~VisualizeLidar ( )

override

Destructor.

Member Function Documentation

DisplayVisual()

Q_INVOKABLE void DisplayVisual

(

bool

_value

)

Set whether to display the lidar visual.

Parameters

[in]

_value

Boolean value for displaying the visual

eventFilter()

bool eventFilter ( QObject *  _obj, QEvent *  _event  )

override

LoadConfig()

void LoadConfig ( const tinyxml2::XMLElement *  _pluginElem )

override

LoadLidar()

void LoadLidar

(

)

Load the scene and attach LidarVisual to the scene.

MaxRange()

Q_INVOKABLE QString MaxRange

(

)

const

Get the maximum range of the lidar sensor (in metres).

Returns

Range, the maximum distance sensed by the sensor.

MaxRangeChanged

void MaxRangeChanged ( )

signal

Notify that maximum range has changed.

MinRange()

Q_INVOKABLE QString MinRange

(

)

const

Get the minimum range of the lidar sensor (in metres).

Returns

Range, the minimum distance sensed by the sensor.

MinRangeChanged

void MinRangeChanged ( )

signal

Notify that minimum range has changed.

OnRefresh()

Q_INVOKABLE void OnRefresh

(

)

Callback when refresh button is pressed.

OnScan()

void OnScan

(

const msgs::LaserScan &

_msg

)

Callback function to get data from the message.

Parameters

[in]

OnTopic()

Q_INVOKABLE void OnTopic

(

const QString &

_topicName

)

Set topic to subscribe for LidarSensor data.

Parameters

[in]

_topicName

Name of selected topic

SetTopicList()

Q_INVOKABLE void SetTopicList

(

const QStringList &

_topicList

)

Set the topic list from a string, for example 'gz.msgs.StringMsg'.

Parameters

[in]

_topicList

Message type

TopicList()

Q_INVOKABLE QStringList TopicList

(

)

const

Get the topic list as a string.

Returns

Message type

TopicListChanged

void TopicListChanged ( )

signal

Notify that topic list has changed.

Update()

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

overridevirtual

Update callback called every time the system is stepped. This is called at a Gazebo Transport thread, so any interaction with Qt should be done through signals and slots.

Parameters

[in]	_info	Current simulation information, such as time.
[in]	_ecm	Mutable reference to the ECM, so the system can read and write entities and their components.

Reimplemented from GuiSystem.

UpdateNonHitting()

Q_INVOKABLE void UpdateNonHitting

(

bool

_value

)

Set whether to display non-hitting rays.

Parameters

[in]

_value

Boolean value for displaying non hitting rays

UpdateSize()

Q_INVOKABLE void UpdateSize

(

int

_size

)

Set lidar visualization size.

Parameters

[in]

_size

Size of lidar visualization

UpdateType()

Q_INVOKABLE void UpdateType

(

int

_type

)

Set visual type of LidarVisual.

Parameters

[in]

_type

Index of selected visual type

Property Documentation

maxRange

QString maxRange

read

Max Range.

minRange

QString minRange

read

Min Range.

topicList

QStringList topicList

readwrite

Topic list.

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

• VisualizeLidar.hh