A 3D LiDAR sensor, with 360 degrees horizontal fielf-of-view, and a configurable vertical FOV. The number of rays in the vertical FOV and the number of samples in each horizontal row are configurable. More...

#include <Lidar3D.h>

Inheritance diagram for mvsim::Lidar3D:

[legend]

Classes
struct	PerHorzAngleLUT

struct	PerRayLUT

Public Member Functions
void	freeOpenGLResources () override

	Lidar3D (Simulable &parent, const rapidxml::xml_node< char > *root)

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) 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	~Lidar3D ()

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
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
int	fbo_nrows_ = vertNumRays_ * 20

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

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_fov_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_corner_

mrpt::opengl::CPointCloudColoured::Ptr	glPoints_

bool	gui_uptodate_ = false

std::optional< TSimulContext >	has_to_render_

std::mutex	has_to_render_mtx_

int	horzNumRays_ = 180

bool	ignore_parent_body_ = false

mrpt::obs::CObservationPointCloud::Ptr	last_scan2gui_

mrpt::obs::CObservationPointCloud::Ptr	last_scan_

std::mutex	last_scan_cs_

std::vector< PerHorzAngleLUT >	lut_

float	maxRange_ = 80.0f

float	minRange_ = 0.01f

double	rangeStdNoise_ = 0.01

mrpt::poses::CPose3D	sensorPoseOnVeh_

double	vertical_fov_ = mrpt::DEG2RAD(30.0)

int	vertNumRays_ = 16

float	viz_pointSize_ = 3.0f

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 3D LiDAR sensor, with 360 degrees horizontal fielf-of-view, and a configurable vertical FOV. The number of rays in the vertical FOV and the number of samples in each horizontal row are configurable.

Definition at line 29 of file Lidar3D.h.

Constructor & Destructor Documentation

◆ Lidar3D()

Lidar3D::Lidar3D	(	Simulable &	parent,
		const rapidxml::xml_node< char > *	root
	)

Definition at line 32 of file Lidar3D.cpp.

◆ ~Lidar3D()

Lidar3D::~Lidar3D ( )

virtual

Definition at line 38 of file Lidar3D.cpp.

Member Function Documentation

◆ freeOpenGLResources()

void Lidar3D::freeOpenGLResources ( )

overridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 170 of file Lidar3D.cpp.

◆ internalGuiUpdate()

void Lidar3D::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 67 of file Lidar3D.cpp.

◆ loadConfigFrom()

void Lidar3D::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 Lidar3D.cpp.

◆ simul_post_timestep()

void Lidar3D::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 147 of file Lidar3D.cpp.

◆ simul_pre_timestep()

void Lidar3D::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 142 of file Lidar3D.cpp.

◆ simulateOn3DScene()

void Lidar3D::simulateOn3DScene ( mrpt::opengl::COpenGLScene & gl_scene )

override

Definition at line 176 of file Lidar3D.cpp.

Member Data Documentation

◆ fbo_nrows_

int mvsim::Lidar3D::fbo_nrows_ = vertNumRays_ * 20

protected

Definition at line 61 of file Lidar3D.h.

◆ fbo_renderer_depth_

std::shared_ptr<mrpt::opengl::CFBORender> mvsim::Lidar3D::fbo_renderer_depth_

protected

Definition at line 79 of file Lidar3D.h.

◆ gl_sensor_fov_

mrpt::opengl::CSetOfObjects::Ptr mvsim::Lidar3D::gl_sensor_fov_

protected

Definition at line 74 of file Lidar3D.h.

◆ gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr mvsim::Lidar3D::gl_sensor_origin_

protected

Definition at line 72 of file Lidar3D.h.

◆ gl_sensor_origin_corner_

mrpt::opengl::CSetOfObjects::Ptr mvsim::Lidar3D::gl_sensor_origin_corner_

protected

Definition at line 72 of file Lidar3D.h.

◆ glPoints_

mrpt::opengl::CPointCloudColoured::Ptr mvsim::Lidar3D::glPoints_

protected

Definition at line 71 of file Lidar3D.h.

◆ gui_uptodate_

bool mvsim::Lidar3D::gui_uptodate_ = false

protected

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

Definition at line 69 of file Lidar3D.h.

◆ has_to_render_

std::optional<TSimulContext> mvsim::Lidar3D::has_to_render_

protected

Definition at line 76 of file Lidar3D.h.

◆ has_to_render_mtx_

std::mutex mvsim::Lidar3D::has_to_render_mtx_

protected

Definition at line 77 of file Lidar3D.h.

◆ horzNumRays_

int mvsim::Lidar3D::horzNumRays_ = 180

protected

Definition at line 60 of file Lidar3D.h.

◆ ignore_parent_body_

bool mvsim::Lidar3D::ignore_parent_body_ = false

protected

Definition at line 54 of file Lidar3D.h.

◆ last_scan2gui_

mrpt::obs::CObservationPointCloud::Ptr mvsim::Lidar3D::last_scan2gui_

protected

Last simulated scan

Definition at line 64 of file Lidar3D.h.

◆ last_scan_

mrpt::obs::CObservationPointCloud::Ptr mvsim::Lidar3D::last_scan_

protected

Definition at line 64 of file Lidar3D.h.

◆ last_scan_cs_

std::mutex mvsim::Lidar3D::last_scan_cs_

protected

Definition at line 65 of file Lidar3D.h.

◆ lut_

std::vector<PerHorzAngleLUT> mvsim::Lidar3D::lut_

protected

Definition at line 91 of file Lidar3D.h.

◆ maxRange_

float mvsim::Lidar3D::maxRange_ = 80.0f

protected

Definition at line 58 of file Lidar3D.h.

◆ minRange_

float mvsim::Lidar3D::minRange_ = 0.01f

protected

Definition at line 57 of file Lidar3D.h.

◆ rangeStdNoise_

double mvsim::Lidar3D::rangeStdNoise_ = 0.01

protected

Definition at line 53 of file Lidar3D.h.

◆ sensorPoseOnVeh_

mrpt::poses::CPose3D mvsim::Lidar3D::sensorPoseOnVeh_

protected

Definition at line 51 of file Lidar3D.h.

◆ vertical_fov_

double mvsim::Lidar3D::vertical_fov_ = mrpt::DEG2RAD(30.0)

protected

Definition at line 59 of file Lidar3D.h.

◆ vertNumRays_

int mvsim::Lidar3D::vertNumRays_ = 16

protected

Definition at line 60 of file Lidar3D.h.

◆ viz_pointSize_

float mvsim::Lidar3D::viz_pointSize_ = 3.0f

protected

Definition at line 56 of file Lidar3D.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Lidar3D()

◆ ~Lidar3D()

Member Function Documentation

◆ freeOpenGLResources()

◆ internalGuiUpdate()

◆ loadConfigFrom()

◆ simul_post_timestep()

◆ simul_pre_timestep()

◆ simulateOn3DScene()

Member Data Documentation

◆ fbo_nrows_

◆ fbo_renderer_depth_

◆ gl_sensor_fov_

◆ gl_sensor_origin_

◆ gl_sensor_origin_corner_

◆ glPoints_

◆ gui_uptodate_

◆ has_to_render_

◆ has_to_render_mtx_

◆ horzNumRays_

◆ ignore_parent_body_

◆ last_scan2gui_

◆ last_scan_

◆ last_scan_cs_

◆ lut_

◆ maxRange_

◆ minRange_

◆ rangeStdNoise_

◆ sensorPoseOnVeh_

◆ vertical_fov_

◆ vertNumRays_

◆ viz_pointSize_