#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)

Simulable &	vehicle ()

const Simulable &	vehicle () const

virtual	~SensorBase ()

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

bool	customVisualVisible () const

void	customVisualVisible (const bool visible)

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))

b2Body *	b2d_body ()

const b2Body *	b2d_body () const

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

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

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

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, bool notifyChange=true) const

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

	Simulable (World *parent)

Protected Member Functions
mrpt::math::TPose3D	getRelativePose () const override

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

void	notifySimulableSetPose (const mrpt::math::TPose3D &newPose) override

void	setRelativePose (const mrpt::math::TPose3D &p) 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 JointXMLnode<> &rootNode)

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

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
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

double	horzResolutionFactor_ = 1.0

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	maxDepthInterpolationStepHorz_ = 0.10f

float	maxDepthInterpolationStepVert_ = 0.30f

float	maxRange_ = 80.0f

float	minRange_ = 0.01f

double	rangeStdNoise_ = 0.01

mrpt::poses::CPose3D	sensorPoseOnVeh_

double	vertical_fov_ = 30.0
	In degrees !! More...

std::vector< double >	vertical_ray_angles_

std::string	vertical_ray_angles_str_

int	vertNumRays_ = 16

double	vertResolutionFactor_ = 1.0

float	viz_pointSize_ = 3.0f

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

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 30 of file Lidar3D.h.

Constructor & Destructor Documentation

◆ Lidar3D()

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

Definition at line 42 of file Lidar3D.cpp.

◆ ~Lidar3D()

Lidar3D::~Lidar3D ( )

virtual

Definition at line 47 of file Lidar3D.cpp.

Member Function Documentation

◆ freeOpenGLResources()

void Lidar3D::freeOpenGLResources ( )

overridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 194 of file Lidar3D.cpp.

◆ getRelativePose()

mrpt::math::TPose3D mvsim::Lidar3D::getRelativePose ( ) const

inlineoverrideprotectedvirtual

Like getPose(), but gets the relative pose with respect to the parent object, or just exactly like getPose() (global pose) if this is a top-level entity.

Reimplemented from mvsim::Simulable.

Definition at line 53 of file Lidar3D.h.

◆ 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 83 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 49 of file Lidar3D.cpp.

◆ notifySimulableSetPose()

void Lidar3D::notifySimulableSetPose ( const mrpt::math::TPose3D & newPose )

overrideprotected

Definition at line 186 of file Lidar3D.cpp.

◆ setRelativePose()

void mvsim::Lidar3D::setRelativePose ( const mrpt::math::TPose3D & p )

inlineoverrideprotectedvirtual

Changes the relative pose of this object with respect to its parent, or the global frame if its a top-level entity.

Reimplemented from mvsim::Simulable.

Definition at line 54 of file Lidar3D.h.

◆ 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 158 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 155 of file Lidar3D.cpp.

◆ simulateOn3DScene()

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

override

Definition at line 289 of file Lidar3D.cpp.

Member Data Documentation

◆ fbo_renderer_depth_

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

protected

Definition at line 99 of file Lidar3D.h.

◆ gl_sensor_fov_

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

protected

Definition at line 94 of file Lidar3D.h.

◆ gl_sensor_origin_

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

protected

Definition at line 93 of file Lidar3D.h.

◆ gl_sensor_origin_corner_

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

protected

Definition at line 93 of file Lidar3D.h.

◆ glPoints_

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

protected

Definition at line 92 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 90 of file Lidar3D.h.

◆ has_to_render_

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

protected

Definition at line 96 of file Lidar3D.h.

◆ has_to_render_mtx_

std::mutex mvsim::Lidar3D::has_to_render_mtx_

protected

Definition at line 97 of file Lidar3D.h.

◆ horzNumRays_

int mvsim::Lidar3D::horzNumRays_ = 180

protected

Definition at line 78 of file Lidar3D.h.

◆ horzResolutionFactor_

double mvsim::Lidar3D::horzResolutionFactor_ = 1.0

protected

Definition at line 79 of file Lidar3D.h.

◆ ignore_parent_body_

bool mvsim::Lidar3D::ignore_parent_body_ = false

protected

Definition at line 62 of file Lidar3D.h.

◆ last_scan2gui_

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

protected

Last simulated scan

Definition at line 85 of file Lidar3D.h.

◆ last_scan_

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

protected

Definition at line 85 of file Lidar3D.h.

◆ last_scan_cs_

std::mutex mvsim::Lidar3D::last_scan_cs_

protected

Definition at line 86 of file Lidar3D.h.

◆ lut_

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

protected

Definition at line 111 of file Lidar3D.h.

◆ maxDepthInterpolationStepHorz_

float mvsim::Lidar3D::maxDepthInterpolationStepHorz_ = 0.10f

protected

Definition at line 82 of file Lidar3D.h.

◆ maxDepthInterpolationStepVert_

float mvsim::Lidar3D::maxDepthInterpolationStepVert_ = 0.30f

protected

Definition at line 81 of file Lidar3D.h.

◆ maxRange_

float mvsim::Lidar3D::maxRange_ = 80.0f

protected

Definition at line 66 of file Lidar3D.h.

◆ minRange_

float mvsim::Lidar3D::minRange_ = 0.01f

protected

Definition at line 65 of file Lidar3D.h.

◆ rangeStdNoise_

double mvsim::Lidar3D::rangeStdNoise_ = 0.01

protected

Definition at line 61 of file Lidar3D.h.

◆ sensorPoseOnVeh_

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

protected

Definition at line 59 of file Lidar3D.h.

◆ vertical_fov_

double mvsim::Lidar3D::vertical_fov_ = 30.0

protected

In degrees !!

vertical FOV will be symmetric above and below the horizontal line, unless vertical_ray_angles_str_ is set

Definition at line 70 of file Lidar3D.h.

◆ vertical_ray_angles_

std::vector<double> mvsim::Lidar3D::vertical_ray_angles_

protected

Upon initialization, vertical_rays_str_ is parsed in this vector of angles in radians.

Definition at line 115 of file Lidar3D.h.

◆ vertical_ray_angles_str_

std::string mvsim::Lidar3D::vertical_ray_angles_str_

protected

If not empty, will define the list of ray vertical angles, in degrees, separated by whitespaces. Positive angles are above, negative below the horizontal plane.

Definition at line 76 of file Lidar3D.h.

◆ vertNumRays_

int mvsim::Lidar3D::vertNumRays_ = 16

protected

Definition at line 78 of file Lidar3D.h.

◆ vertResolutionFactor_

double mvsim::Lidar3D::vertResolutionFactor_ = 1.0

protected

Definition at line 80 of file Lidar3D.h.

◆ viz_pointSize_

float mvsim::Lidar3D::viz_pointSize_ = 3.0f

protected

Definition at line 64 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()

◆ getRelativePose()

◆ internalGuiUpdate()

◆ loadConfigFrom()

◆ notifySimulableSetPose()

◆ setRelativePose()

◆ simul_post_timestep()

◆ simul_pre_timestep()

◆ simulateOn3DScene()

Member Data Documentation

◆ fbo_renderer_depth_

◆ gl_sensor_fov_

◆ gl_sensor_origin_

◆ gl_sensor_origin_corner_

◆ glPoints_

◆ gui_uptodate_

◆ has_to_render_

◆ has_to_render_mtx_

◆ horzNumRays_

◆ horzResolutionFactor_

◆ ignore_parent_body_

◆ last_scan2gui_

◆ last_scan_

◆ last_scan_cs_

◆ lut_

◆ maxDepthInterpolationStepHorz_

◆ maxDepthInterpolationStepVert_

◆ maxRange_

◆ minRange_

◆ rangeStdNoise_

◆ sensorPoseOnVeh_

◆ vertical_fov_

◆ vertical_ray_angles_

◆ vertical_ray_angles_str_

◆ vertNumRays_

◆ vertResolutionFactor_

◆ viz_pointSize_