A 2D lidar scanner, with FOV up to 360 degrees. More...

#include <LaserScanner.h>

Inheritance diagram for mvsim::LaserScanner:

Public Member Functions
void	freeOpenGLResources () override

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

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

void	registerOnServer (mvsim::Client &c) override

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

void	simulateOn3DScene (mrpt::opengl::COpenGLScene &gl_scene) override

virtual	~LaserScanner ()

Public Member Functions inherited from mvsim::SensorBase
void	registerOnServer (mvsim::Client &c) override

double	sensor_period () const

	SensorBase (Simulable &vehicle)

virtual void	simulateOn3DScene ([[maybe_unused]] mrpt::opengl::COpenGLScene &gl_scene)

virtual	~SensorBase ()

Public Member Functions inherited from mvsim::VisualObject
const std::optional< Shape2p5 > &	collisionShape () const

void	customVisualVisible (const bool visible)

bool	customVisualVisible () const

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

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...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

mrpt::math::TVector3D	getLinearAcceleration () const

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

mrpt::math::TTwist2D	getTwist () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

virtual VisualObject *	meAsVisualObject ()

void	resetCollisionFlag ()

void	setName (const std::string &s)

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

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

	Simulable (World *parent)

Protected Member Functions
void	internal_simulate_lidar_2d_mode (const TSimulContext &context)

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

Protected Member Functions inherited from mvsim::SensorBase
void	make_sure_we_have_a_name (const std::string &prefix)
	Assign a sensible default name/sensor label if none is provided: More...

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)

void	reportNewObservation_lidar_2d (const std::shared_ptr< mrpt::obs::CObservation2DRangeScan > &obs, const TSimulContext &context)

bool	should_simulate_sensor (const TSimulContext &context)

World *	world ()

const World *	world () const

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

bool	parseVisual (const JointXMLnode<> &rootNode)

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
std::vector< size_t >	angleIdx2pixelIdx_

std::vector< float >	angleIdx2secant_

double	angleStdNoise_ = mrpt::DEG2RAD(0.01)

std::shared_ptr< mrpt::opengl::CFBORender >	fbo_renderer_depth_

mrpt::opengl::CPlanarLaserScan::Ptr	gl_scan_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_fov_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_corner_

bool	gui_uptodate_ = false

std::optional< TSimulContext >	has_to_render_

std::mutex	has_to_render_mtx_

bool	ignore_parent_body_ = false

mrpt::obs::CObservation2DRangeScan::Ptr	last_scan2gui_

mrpt::obs::CObservation2DRangeScan::Ptr	last_scan_

std::mutex	last_scan_cs_

double	rangeStdNoise_ = 0.01

bool	raytrace_3d_ = false

mrpt::obs::CObservation2DRangeScan	scan_model_

bool	see_fixtures_ = true

mrpt::poses::CPose2D	sensor_pose_on_veh_

mrpt::img::TColor	viz_planeColor_ = {0x00, 0x00, 0xff, 0x10}

mrpt::img::TColor	viz_pointsColor_ = {0xff, 0x00, 0x00, 0x80}

float	viz_pointSize_ = 3.0f

bool	viz_visibleLines_ = true

bool	viz_visiblePlane_ = false

bool	viz_visiblePoints_ = false

int	z_order_
	to help rendering multiple scans More...

Protected Attributes inherited from mvsim::SensorBase
std::string	publishTopic_

std::shared_ptr< mrpt::io::CFileGZOutputStream >	rawlog_io_

std::string	save_to_rawlog_

double	sensor_last_timestamp_ = 0

double	sensor_period_ = 0.1

std::map< std::string, std::string >	varValues_
	Filled in by SensorBase::loadConfigFrom() More...

Simulable &	vehicle_
	The vehicle this sensor is attached to. More...

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

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

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Protected Attributes inherited from mvsim::Simulable
std::string	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 (Simulable &parent, const rapidxml::xml_node< char > *xml_node)

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsFOVViz ()

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsOriginViz ()

static void	RegisterSensorFOVViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

static void	RegisterSensorOriginViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Detailed Description

A 2D lidar scanner, with FOV up to 360 degrees.

There are two working modes:

raytrace_3d=false: Very fast simulation, applicable to 2D worlds.
raytrace_3d=true: Accurate version using detailed 3D meshes for all available objects in the scene.

Definition at line 31 of file LaserScanner.h.

Constructor & Destructor Documentation

◆ LaserScanner()

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

Definition at line 31 of file LaserScanner.cpp.

◆ ~LaserScanner()

LaserScanner::~LaserScanner ( )

virtual

Definition at line 38 of file LaserScanner.cpp.

Member Function Documentation

◆ freeOpenGLResources()

void LaserScanner::freeOpenGLResources ( )

overridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 433 of file LaserScanner.cpp.

◆ internal_simulate_lidar_2d_mode()

void LaserScanner::internal_simulate_lidar_2d_mode ( const TSimulContext & context )

protected

Definition at line 234 of file LaserScanner.cpp.

◆ internalGuiUpdate()

void LaserScanner::internalGuiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical,
		bool	childrenOnly
	)

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 86 of file LaserScanner.cpp.

◆ loadConfigFrom()

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

overridevirtual

Loads the parameters common to all sensors. Should be overriden, and they call to this base method.

Reimplemented from mvsim::SensorBase.

Definition at line 40 of file LaserScanner.cpp.

◆ registerOnServer()

void LaserScanner::registerOnServer ( mvsim::Client & c )

overridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 688 of file LaserScanner.cpp.

◆ simul_post_timestep()

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 q_, dq_)

Reimplemented from mvsim::Simulable.

Definition at line 203 of file LaserScanner.cpp.

◆ simul_pre_timestep()

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 197 of file LaserScanner.cpp.

◆ simulateOn3DScene()

void LaserScanner::simulateOn3DScene ( mrpt::opengl::COpenGLScene & gl_scene )

override

Definition at line 439 of file LaserScanner.cpp.

Member Data Documentation

◆ angleIdx2pixelIdx_

std::vector<size_t> mvsim::LaserScanner::angleIdx2pixelIdx_

protected

Definition at line 102 of file LaserScanner.h.

◆ angleIdx2secant_

std::vector<float> mvsim::LaserScanner::angleIdx2secant_

protected

Definition at line 103 of file LaserScanner.h.

◆ angleStdNoise_

double mvsim::LaserScanner::angleStdNoise_ = mrpt::DEG2RAD(0.01)

protected

Definition at line 61 of file LaserScanner.h.

◆ fbo_renderer_depth_

std::shared_ptr<mrpt::opengl::CFBORender> mvsim::LaserScanner::fbo_renderer_depth_

protected

Definition at line 100 of file LaserScanner.h.

◆ gl_scan_

mrpt::opengl::CPlanarLaserScan::Ptr mvsim::LaserScanner::gl_scan_

protected

Definition at line 92 of file LaserScanner.h.

◆ gl_sensor_fov_

mrpt::opengl::CSetOfObjects::Ptr mvsim::LaserScanner::gl_sensor_fov_

protected

Definition at line 95 of file LaserScanner.h.

◆ gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr mvsim::LaserScanner::gl_sensor_origin_

protected

Definition at line 93 of file LaserScanner.h.

◆ gl_sensor_origin_corner_

mrpt::opengl::CSetOfObjects::Ptr mvsim::LaserScanner::gl_sensor_origin_corner_

protected

Definition at line 93 of file LaserScanner.h.

◆ gui_uptodate_

bool mvsim::LaserScanner::gui_uptodate_ = false

protected

Whether gl_scan_ has to be updated upon next call of internalGuiUpdate() from last_scan2gui_

Definition at line 90 of file LaserScanner.h.

◆ has_to_render_

std::optional<TSimulContext> mvsim::LaserScanner::has_to_render_

protected

Definition at line 97 of file LaserScanner.h.

◆ has_to_render_mtx_

std::mutex mvsim::LaserScanner::has_to_render_mtx_

protected

Definition at line 98 of file LaserScanner.h.

◆ ignore_parent_body_

bool mvsim::LaserScanner::ignore_parent_body_ = false

protected

Definition at line 70 of file LaserScanner.h.

◆ last_scan2gui_

mrpt::obs::CObservation2DRangeScan::Ptr mvsim::LaserScanner::last_scan2gui_

protected

Definition at line 86 of file LaserScanner.h.

◆ last_scan_

mrpt::obs::CObservation2DRangeScan::Ptr mvsim::LaserScanner::last_scan_

protected

Last simulated scan

Definition at line 85 of file LaserScanner.h.

◆ last_scan_cs_

std::mutex mvsim::LaserScanner::last_scan_cs_

protected

Definition at line 83 of file LaserScanner.h.

◆ rangeStdNoise_

double mvsim::LaserScanner::rangeStdNoise_ = 0.01

protected

Definition at line 60 of file LaserScanner.h.

◆ raytrace_3d_

bool mvsim::LaserScanner::raytrace_3d_ = false

protected

If enabled, use realistic 3D depth measurement using the scene 3D model, instead of 2D "fixtures" used for collisions.

Definition at line 68 of file LaserScanner.h.

◆ scan_model_

mrpt::obs::CObservation2DRangeScan mvsim::LaserScanner::scan_model_

protected

Definition at line 81 of file LaserScanner.h.

◆ see_fixtures_

bool mvsim::LaserScanner::see_fixtures_ = true

protected

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

Definition at line 64 of file LaserScanner.h.

◆ sensor_pose_on_veh_

mrpt::poses::CPose2D mvsim::LaserScanner::sensor_pose_on_veh_

protected

Definition at line 59 of file LaserScanner.h.

◆ viz_planeColor_

mrpt::img::TColor mvsim::LaserScanner::viz_planeColor_ = {0x00, 0x00, 0xff, 0x10}

protected

Definition at line 77 of file LaserScanner.h.

◆ viz_pointsColor_

mrpt::img::TColor mvsim::LaserScanner::viz_pointsColor_ = {0xff, 0x00, 0x00, 0x80}

protected

Definition at line 76 of file LaserScanner.h.

◆ viz_pointSize_

float mvsim::LaserScanner::viz_pointSize_ = 3.0f

protected

Definition at line 75 of file LaserScanner.h.

◆ viz_visibleLines_

bool mvsim::LaserScanner::viz_visibleLines_ = true

protected

Definition at line 73 of file LaserScanner.h.

◆ viz_visiblePlane_

bool mvsim::LaserScanner::viz_visiblePlane_ = false

protected

Definition at line 72 of file LaserScanner.h.

◆ viz_visiblePoints_

bool mvsim::LaserScanner::viz_visiblePoints_ = false

protected

Definition at line 74 of file LaserScanner.h.

◆ z_order_

int mvsim::LaserScanner::z_order_

protected

to help rendering multiple scans

Definition at line 58 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

◆ LaserScanner()

◆ ~LaserScanner()

Member Function Documentation

◆ freeOpenGLResources()

◆ internal_simulate_lidar_2d_mode()

◆ internalGuiUpdate()

◆ loadConfigFrom()

◆ registerOnServer()

◆ simul_post_timestep()

◆ simul_pre_timestep()

◆ simulateOn3DScene()

Member Data Documentation

◆ angleIdx2pixelIdx_

◆ angleIdx2secant_

◆ angleStdNoise_

◆ fbo_renderer_depth_

◆ gl_scan_

◆ gl_sensor_fov_

◆ gl_sensor_origin_

◆ gl_sensor_origin_corner_

◆ gui_uptodate_

◆ has_to_render_

◆ has_to_render_mtx_

◆ ignore_parent_body_

◆ last_scan2gui_

◆ last_scan_

◆ last_scan_cs_

◆ rangeStdNoise_

◆ raytrace_3d_

◆ scan_model_

◆ see_fixtures_

◆ sensor_pose_on_veh_

◆ viz_planeColor_

◆ viz_pointsColor_

◆ viz_pointSize_

◆ viz_visibleLines_

◆ viz_visiblePlane_

◆ viz_visiblePoints_

◆ z_order_