#include <LaserScanner.h>

Inheritance diagram for mvsim::LaserScanner:

Public Member Functions
	LaserScanner (VehicleBase &parent, const rapidxml::xml_node< char > *root)

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

void	poses_mutex_lock () override

void	poses_mutex_unlock () override

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

virtual	~LaserScanner ()

Public Member Functions inherited from mvsim::SensorBase
void	registerOnServer (mvsim::Client &c) override
	(in seconds) (Default = 0.1) More...

	SensorBase (VehicleBase &vehicle)

virtual	~SensorBase ()
	which the sensor is attached. More...

Public Member Functions inherited from mvsim::VisualObject
void	getVisualModelBoundingBox (mrpt::math::TPoint3D &bbmin, mrpt::math::TPoint3D &bbmax) const

World *	getWorldObject ()

const World *	getWorldObject () const

virtual void	guiUpdate (mrpt::opengl::COpenGLScene &scene)

void	showBoundingBox (bool show)

	VisualObject (World *parent)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

const b2Body *	b2d_body () const

b2Body *	b2d_body ()

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TTwist2D	getTwist () const

const mrpt::math::TTwist2D &	getVelocity () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

void	resetCollisionFlag ()

void	setName (const std::string &s)

void	setPose (const mrpt::math::TPose3D &p) const

void	setTwist (const mrpt::math::TTwist2D &dq) const

Protected Member Functions
virtual void	internalGuiUpdate (mrpt::opengl::COpenGLScene &scene, bool childrenOnly) override

Protected Member Functions inherited from mvsim::SensorBase
bool	parseSensorPublish (const rapidxml::xml_node< char > *node, const std::map< std::string, std::string > &varValues)

void	reportNewObservation (const std::shared_ptr< mrpt::obs::CObservation > &obs, const TSimulContext &context)

Protected Member Functions inherited from mvsim::VisualObject
virtual mrpt::poses::CPose3D	internalGuiGetVisualPose ()

bool	parseVisual (const rapidxml::xml_node< char > *visual_node)

Protected Attributes
double	m_angleStdNoise

mrpt::opengl::CPlanarLaserScan::Ptr	m_gl_scan

std::mutex	m_gui_mtx

bool	m_gui_uptodate = false

mrpt::obs::CObservation2DRangeScan::Ptr	m_last_scan

mrpt::obs::CObservation2DRangeScan::Ptr	m_last_scan2gui

std::mutex	m_last_scan_cs

std::string	m_name
	sensor label/name More...

double	m_rangeStdNoise

mrpt::obs::CObservation2DRangeScan	m_scan_model

bool	m_see_fixtures

mrpt::poses::CPose2D	m_sensor_pose_on_veh

float	m_viz_pointSize = 3.0f

bool	m_viz_visiblePlane = false

bool	m_viz_visiblePoints = false

int	m_z_order
	to help rendering multiple scans More...

Protected Attributes inherited from mvsim::SensorBase
double	m_sensor_last_timestamp

VehicleBase &	m_vehicle
	The vehicle this sensor is attached to. More...

std::string	publishTopic_

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glBoundingBox

std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glCustomVisual

int32_t	m_glCustomVisualId = -1

World *	m_world

Protected Attributes inherited from mvsim::Simulable
std::string	m_name

Additional Inherited Members
Public Types inherited from mvsim::SensorBase
using	Ptr = std::shared_ptr< SensorBase >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Static Public Member Functions inherited from mvsim::SensorBase
static SensorBase::Ptr	factory (VehicleBase &parent, const rapidxml::xml_node< char > *xml_node)

Public Attributes inherited from mvsim::SensorBase
double	m_sensor_period

Detailed Description

Definition at line 21 of file LaserScanner.h.

Constructor & Destructor Documentation

LaserScanner::LaserScanner	(	VehicleBase &	parent,
		const rapidxml::xml_node< char > *	root
	)

Definition at line 25 of file LaserScanner.cpp.

LaserScanner::~LaserScanner ( )

virtual

Definition at line 36 of file LaserScanner.cpp.

Member Function Documentation

void LaserScanner::internalGuiUpdate	(	mrpt::opengl::COpenGLScene &	scene,
		bool	childrenOnly
	)

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 89 of file LaserScanner.cpp.

void LaserScanner::loadConfigFrom ( const rapidxml::xml_node< char > * root )

overridevirtual

Implements mvsim::SensorBase.

Definition at line 37 of file LaserScanner.cpp.

void mvsim::LaserScanner::poses_mutex_lock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 34 of file LaserScanner.h.

void mvsim::LaserScanner::poses_mutex_unlock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 35 of file LaserScanner.h.

void LaserScanner::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update m_q, m_dq)

Reimplemented from mvsim::Simulable.

Definition at line 133 of file LaserScanner.cpp.

void LaserScanner::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Definition at line 127 of file LaserScanner.cpp.

Member Data Documentation

double mvsim::LaserScanner::m_angleStdNoise

protected

Definition at line 45 of file LaserScanner.h.

mrpt::opengl::CPlanarLaserScan::Ptr mvsim::LaserScanner::m_gl_scan

protected

Definition at line 67 of file LaserScanner.h.

std::mutex mvsim::LaserScanner::m_gui_mtx

protected

Definition at line 66 of file LaserScanner.h.

bool mvsim::LaserScanner::m_gui_uptodate = false

protected

Whether m_gl_scan has to be updated upon next call of internalGuiUpdate() from m_last_scan2gui

Definition at line 65 of file LaserScanner.h.

mrpt::obs::CObservation2DRangeScan::Ptr mvsim::LaserScanner::m_last_scan

protected

Last simulated scan

Definition at line 60 of file LaserScanner.h.

mrpt::obs::CObservation2DRangeScan::Ptr mvsim::LaserScanner::m_last_scan2gui

protected

Definition at line 61 of file LaserScanner.h.

std::mutex mvsim::LaserScanner::m_last_scan_cs

protected

Definition at line 58 of file LaserScanner.h.

std::string mvsim::LaserScanner::m_name

protected

sensor label/name

Definition at line 43 of file LaserScanner.h.

double mvsim::LaserScanner::m_rangeStdNoise

protected

Definition at line 44 of file LaserScanner.h.

mrpt::obs::CObservation2DRangeScan mvsim::LaserScanner::m_scan_model

protected

Definition at line 56 of file LaserScanner.h.

bool mvsim::LaserScanner::m_see_fixtures

protected

Whether all box2d "fixtures" are visible (solid) or not (Default=true)

Definition at line 48 of file LaserScanner.h.

mrpt::poses::CPose2D mvsim::LaserScanner::m_sensor_pose_on_veh

protected

Definition at line 42 of file LaserScanner.h.

float mvsim::LaserScanner::m_viz_pointSize = 3.0f

protected

Definition at line 52 of file LaserScanner.h.

bool mvsim::LaserScanner::m_viz_visiblePlane = false

protected

Definition at line 50 of file LaserScanner.h.

bool mvsim::LaserScanner::m_viz_visiblePoints = false

protected

Definition at line 51 of file LaserScanner.h.

int mvsim::LaserScanner::m_z_order

protected

to help rendering multiple scans

Definition at line 41 of file LaserScanner.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation