#include <LaserScanner.h>

Inheritance diagram for mvsim::LaserScanner:

Public Member Functions
virtual void	gui_update (mrpt::opengl::COpenGLScene &scene)
	See docs in base class. More...

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

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root)
	See docs in base class. More...

virtual void	simul_post_timestep (const TSimulContext &context)
	See docs in base class. More...

virtual void	simul_pre_timestep (const TSimulContext &context)
	See docs in base class. More...

virtual	~LaserScanner ()

Public Member Functions inherited from mvsim::SensorBase
	SensorBase (VehicleBase &vehicle)

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

Public Member Functions inherited from mvsim::VisualObject
World *	getWorldObject ()

const World *	getWorldObject () const

	VisualObject (World *parent)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (double fx, double fy, double local_ptx=0.0, double local_pty=0.0)

Protected Attributes
double	m_angleStdNoise

mrpt::opengl::CPlanarLaserScan::Ptr	m_gl_scan
	call of gui_update() from m_last_scan2gui More...

bool	m_gui_uptodate

mrpt::obs::CObservation2DRangeScan::Ptr	m_last_scan
	Last simulated scan. More...

mrpt::obs::CObservation2DRangeScan::Ptr	m_last_scan2gui

std::mutex	m_last_scan_cs

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

double	m_rangeStdNoise

CObservation2DRangeScan	m_scan_model
	or not (Default=true) More...

bool	m_see_fixtures

mrpt::poses::CPose2D	m_sensor_pose_on_veh

int	m_z_order
	to help rendering multiple scans More...

Protected Attributes inherited from mvsim::SensorBase
double	m_sensor_last_timestamp

VehicleBase &	m_vehicle
	(in seconds) (Default = 0.1) More...

Protected Attributes inherited from mvsim::VisualObject
World *	m_world

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

Static Public Member Functions inherited from mvsim::SensorBase
static SensorBase *	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 29 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::gui_update ( mrpt::opengl::COpenGLScene & scene )

virtual

See docs in base class.

Implements mvsim::VisualObject.

Definition at line 80 of file LaserScanner.cpp.

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

virtual

See docs in base class.

Implements mvsim::SensorBase.

Definition at line 37 of file LaserScanner.cpp.

void LaserScanner::simul_post_timestep ( const TSimulContext & context )

virtual

See docs in base class.

Reimplemented from mvsim::Simulable.

Definition at line 113 of file LaserScanner.cpp.

void LaserScanner::simul_pre_timestep ( const TSimulContext & context )

virtual

See docs in base class.

Reimplemented from mvsim::Simulable.

Definition at line 111 of file LaserScanner.cpp.

Member Data Documentation

double mvsim::LaserScanner::m_angleStdNoise

protected

Definition at line 51 of file LaserScanner.h.

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

protected

call of gui_update() from m_last_scan2gui

Definition at line 67 of file LaserScanner.h.

bool mvsim::LaserScanner::m_gui_uptodate

protected

Whether m_gl_scan has to be updated upon next

Definition at line 65 of file LaserScanner.h.

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

protected

Last simulated scan.

Definition at line 62 of file LaserScanner.h.

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

protected

Definition at line 63 of file LaserScanner.h.

std::mutex mvsim::LaserScanner::m_last_scan_cs

protected

This obj will be copied as a "pattern" to fill it with actual scan data.

Definition at line 60 of file LaserScanner.h.

std::string mvsim::LaserScanner::m_name

protected

sensor label/name

Definition at line 49 of file LaserScanner.h.

double mvsim::LaserScanner::m_rangeStdNoise

protected

Definition at line 50 of file LaserScanner.h.

CObservation2DRangeScan mvsim::LaserScanner::m_scan_model

protected

or not (Default=true)

Store here all scan parameters.

Definition at line 55 of file LaserScanner.h.

bool mvsim::LaserScanner::m_see_fixtures

protected

Whether all box2d "fixtures" are visible (solid)

Definition at line 52 of file LaserScanner.h.

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

protected

Definition at line 48 of file LaserScanner.h.

int mvsim::LaserScanner::m_z_order

protected

to help rendering multiple scans

Definition at line 47 of file LaserScanner.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation