#include <laser_simulator.h>

Public Member Functions
	LaserScannerSimulator (ros::NodeHandle *nh)

void	set_laser_params (std::string frame_id, double fov, unsigned int beam_count, double max_range, double min_range, double l_frequency)

void	set_noise_params (bool use_model, double sigma_hit_reading, double lambda_short_reading, double z_hit, double z_short, double z_max, double z_rand)

void	start ()

void	stop ()

	~LaserScannerSimulator ()

Private Member Functions
double	apply_range_noise (double range_reading)

double	find_map_range (double x, double y, double theta)

void	get_laser_pose (double x, double y, double *theta)

void	get_map ()

void	get_map2world_coordinates (int map_x, int map_y, double x, double y)

int	get_map_occupancy (int x, int y)

void	get_params ()

void	get_world2map_coordinates (double x, double y, int map_x, int map_y)

void	update_loop (const ros::TimerEvent &event)

void	update_scan (double x, double y, double theta)

Private Attributes
bool	have_map

bool	is_running

int	l_beams

double	l_fov

std::string	l_frame

double	l_frequency

double	l_max_range

double	l_min_range

std::string	l_scan_topic

double	lambda_short

ros::Publisher	laser_pub

ros::Timer	loop_timer

nav_msgs::OccupancyGrid	map

std::string	map_service

ros::NodeHandle *	nh_ptr

sensor_msgs::LaserScan	output_scan

std::normal_distribution< double >	p_hit

std::uniform_real_distribution< double >	p_rand

std::exponential_distribution< double >	p_short

std::default_random_engine	rand_gen

tf::StampedTransform	rob_laser_tf

std::uniform_real_distribution< double >	selector

double	sigma_hit

tf::TransformListener	tl

bool	use_noise_model

double	z_mix [4]

Detailed Description

Definition at line 17 of file laser_simulator.h.

Constructor & Destructor Documentation

◆ LaserScannerSimulator()

LaserScannerSimulator::LaserScannerSimulator ( ros::NodeHandle * nh )

Definition at line 5 of file laser_simulator.cpp.

◆ ~LaserScannerSimulator()

LaserScannerSimulator::~LaserScannerSimulator ( )

Definition at line 16 of file laser_simulator.cpp.

Member Function Documentation

◆ apply_range_noise()

double LaserScannerSimulator::apply_range_noise ( double range_reading )

private

applies sensor noise to the calculated range

Definition at line 263 of file laser_simulator.cpp.

◆ find_map_range()

double LaserScannerSimulator::find_map_range	(	double	x,
		double	y,
		double	theta
	)

private

raytracing, calculates intersection with the map for a single ray

Definition at line 156 of file laser_simulator.cpp.

◆ get_laser_pose()

void LaserScannerSimulator::get_laser_pose	(	double *	x,
		double *	y,
		double *	theta
	)

private

finds the pose of the laser in the map frame

Definition at line 100 of file laser_simulator.cpp.

◆ get_map()

void LaserScannerSimulator::get_map ( )

private

gets the current map

Definition at line 72 of file laser_simulator.cpp.

◆ get_map2world_coordinates()

void LaserScannerSimulator::get_map2world_coordinates	(	int	map_x,
		int	map_y,
		double *	x,
		double *	y
	)

private

get real-world coordinates of map cell

Definition at line 312 of file laser_simulator.cpp.

◆ get_map_occupancy()

int LaserScannerSimulator::get_map_occupancy	(	int	x,
		int	y
	)

private

get occupancy of specified cell

Definition at line 319 of file laser_simulator.cpp.

◆ get_params()

void LaserScannerSimulator::get_params ( )

private

gets parameters from the parameter server

Definition at line 21 of file laser_simulator.cpp.

◆ get_world2map_coordinates()

void LaserScannerSimulator::get_world2map_coordinates	(	double	x,
		double	y,
		int *	map_x,
		int *	map_y
	)

private

get map cell corresponding to real-world coordinates

Definition at line 305 of file laser_simulator.cpp.

◆ set_laser_params()

void LaserScannerSimulator::set_laser_params	(	std::string	frame_id,
		double	fov,
		unsigned int	beam_count,
		double	max_range,
		double	min_range,
		double	l_frequency
	)

updates the laser scanner parameters

Definition at line 89 of file laser_simulator.cpp.

◆ set_noise_params()

void LaserScannerSimulator::set_noise_params	(	bool	use_model,
		double	sigma_hit_reading,
		double	lambda_short_reading,
		double	z_hit,
		double	z_short,
		double	z_max,
		double	z_rand
	)

updates the noise model parameters

Definition at line 277 of file laser_simulator.cpp.

◆ start()

void LaserScannerSimulator::start ( )

start the simulation loop

Definition at line 44 of file laser_simulator.cpp.

◆ stop()

void LaserScannerSimulator::stop ( )

stop everything

Definition at line 52 of file laser_simulator.cpp.

◆ update_loop()

void LaserScannerSimulator::update_loop ( const ros::TimerEvent & event )

private

Definition at line 59 of file laser_simulator.cpp.

◆ update_scan()

void LaserScannerSimulator::update_scan	(	double	x,
		double	y,
		double	theta
	)

private

updates the laser scan based on current 2D pose of the scanner in map coordinates

Definition at line 120 of file laser_simulator.cpp.

Member Data Documentation

◆ have_map

bool LaserScannerSimulator::have_map

private

Definition at line 79 of file laser_simulator.h.

◆ is_running

bool LaserScannerSimulator::is_running

private

Definition at line 74 of file laser_simulator.h.

◆ l_beams

int LaserScannerSimulator::l_beams

private

Definition at line 86 of file laser_simulator.h.

◆ l_fov

double LaserScannerSimulator::l_fov

private

Definition at line 85 of file laser_simulator.h.

◆ l_frame

std::string LaserScannerSimulator::l_frame

private

Definition at line 84 of file laser_simulator.h.

◆ l_frequency

double LaserScannerSimulator::l_frequency

private

Definition at line 89 of file laser_simulator.h.

◆ l_max_range

double LaserScannerSimulator::l_max_range

private

Definition at line 87 of file laser_simulator.h.

◆ l_min_range

double LaserScannerSimulator::l_min_range

private

Definition at line 88 of file laser_simulator.h.

◆ l_scan_topic

std::string LaserScannerSimulator::l_scan_topic

private

Definition at line 81 of file laser_simulator.h.

◆ lambda_short

double LaserScannerSimulator::lambda_short

private

Definition at line 95 of file laser_simulator.h.

◆ laser_pub

ros::Publisher LaserScannerSimulator::laser_pub

private

Definition at line 70 of file laser_simulator.h.

◆ loop_timer

ros::Timer LaserScannerSimulator::loop_timer

private

Definition at line 73 of file laser_simulator.h.

◆ map

nav_msgs::OccupancyGrid LaserScannerSimulator::map

private

Definition at line 78 of file laser_simulator.h.

◆ map_service

std::string LaserScannerSimulator::map_service

private

Definition at line 77 of file laser_simulator.h.

◆ nh_ptr

ros::NodeHandle* LaserScannerSimulator::nh_ptr

private

Definition at line 69 of file laser_simulator.h.

◆ output_scan

sensor_msgs::LaserScan LaserScannerSimulator::output_scan

private

Definition at line 105 of file laser_simulator.h.

◆ p_hit

std::normal_distribution<double> LaserScannerSimulator::p_hit

private

Definition at line 100 of file laser_simulator.h.

◆ p_rand

std::uniform_real_distribution<double> LaserScannerSimulator::p_rand

private

Definition at line 102 of file laser_simulator.h.

◆ p_short

std::exponential_distribution<double> LaserScannerSimulator::p_short

private

Definition at line 101 of file laser_simulator.h.

◆ rand_gen

std::default_random_engine LaserScannerSimulator::rand_gen

private

Definition at line 98 of file laser_simulator.h.

◆ rob_laser_tf

tf::StampedTransform LaserScannerSimulator::rob_laser_tf

private

Definition at line 90 of file laser_simulator.h.

◆ selector

std::uniform_real_distribution<double> LaserScannerSimulator::selector

private

Definition at line 99 of file laser_simulator.h.

◆ sigma_hit

double LaserScannerSimulator::sigma_hit

private

Definition at line 94 of file laser_simulator.h.

◆ tl

tf::TransformListener LaserScannerSimulator::tl

private

Definition at line 71 of file laser_simulator.h.

◆ use_noise_model

bool LaserScannerSimulator::use_noise_model

private

Definition at line 93 of file laser_simulator.h.

◆ z_mix

double LaserScannerSimulator::z_mix[4]

private

Definition at line 96 of file laser_simulator.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LaserScannerSimulator()

◆ ~LaserScannerSimulator()

Member Function Documentation

◆ apply_range_noise()

◆ find_map_range()

◆ get_laser_pose()

◆ get_map()

◆ get_map2world_coordinates()

◆ get_map_occupancy()

◆ get_params()

◆ get_world2map_coordinates()

◆ set_laser_params()

◆ set_noise_params()

◆ start()

◆ stop()

◆ update_loop()

◆ update_scan()

Member Data Documentation

◆ have_map

◆ is_running

◆ l_beams

◆ l_fov

◆ l_frame

◆ l_frequency

◆ l_max_range

◆ l_min_range

◆ l_scan_topic

◆ lambda_short

◆ laser_pub

◆ loop_timer

◆ map

◆ map_service

◆ nh_ptr

◆ output_scan

◆ p_hit

◆ p_rand

◆ p_short

◆ rand_gen

◆ rob_laser_tf

◆ selector

◆ sigma_hit

◆ tl

◆ use_noise_model

◆ z_mix