Virtual base class for all sensors. More...

#include <SensorBase.h>

Inheritance diagram for mvsim::SensorBase:

[legend]

Public Types
using	Ptr = std::shared_ptr< SensorBase >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Public Member Functions
virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root)

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

virtual void	freeOpenGLResources ()

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...

virtual mrpt::math::TPose3D	getRelativePose () const

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

virtual void	setRelativePose (const mrpt::math::TPose3D &p)

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

virtual void	simul_post_timestep (const TSimulContext &context)

virtual void	simul_pre_timestep (const TSimulContext &context)

	Simulable (World *parent)

Static Public Member Functions
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 ()

Protected Member Functions
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)

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly=false)=0

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

Detailed Description

Virtual base class for all sensors.

Definition at line 34 of file SensorBase.h.

Member Typedef Documentation

◆ Ptr

using mvsim::SensorBase::Ptr = std::shared_ptr<SensorBase>

Definition at line 37 of file SensorBase.h.

Constructor & Destructor Documentation

◆ SensorBase()

SensorBase::SensorBase ( Simulable & vehicle )

Ctor takes a ref to the vehicle to which the sensor is attached.

Definition at line 84 of file SensorBase.cpp.

◆ ~SensorBase()

SensorBase::~SensorBase ( )

virtualdefault

Member Function Documentation

◆ factory()

SensorBase::Ptr SensorBase::factory	(	Simulable &	parent,
		const rapidxml::xml_node< char > *	xml_node
	)

static

Class factory: Creates a sensor from XML description of type "<sensor class='CLASS_NAME'>...</sensor>".

Definition at line 93 of file SensorBase.cpp.

◆ GetAllSensorsFOVViz()

mrpt::opengl::CSetOfObjects::Ptr SensorBase::GetAllSensorsFOVViz ( )

static

Definition at line 67 of file SensorBase.cpp.

◆ GetAllSensorsOriginViz()

mrpt::opengl::CSetOfObjects::Ptr SensorBase::GetAllSensorsOriginViz ( )

static

Definition at line 61 of file SensorBase.cpp.

◆ loadConfigFrom()

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

virtual

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

Reimplemented in mvsim::DepthCameraSensor, mvsim::LaserScanner, mvsim::Lidar3D, mvsim::GNSS, mvsim::CameraSensor, and mvsim::IMU.

Definition at line 231 of file SensorBase.cpp.

◆ make_sure_we_have_a_name()

void SensorBase::make_sure_we_have_a_name ( const std::string & prefix )

protected

Assign a sensible default name/sensor label if none is provided:

Definition at line 252 of file SensorBase.cpp.

◆ parseSensorPublish()

bool SensorBase::parseSensorPublish	(	const rapidxml::xml_node< char > *	node,
		const std::map< std::string, std::string > &	varValues
	)

protected

Definition at line 129 of file SensorBase.cpp.

◆ registerOnServer()

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

overridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 220 of file SensorBase.cpp.

◆ RegisterSensorFOVViz()

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

static

Definition at line 73 of file SensorBase.cpp.

◆ RegisterSensorOriginViz()

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

static

Definition at line 78 of file SensorBase.cpp.

◆ reportNewObservation()

void SensorBase::reportNewObservation	(	const std::shared_ptr< mrpt::obs::CObservation > &	obs,
		const TSimulContext &	context
	)

protected

Definition at line 159 of file SensorBase.cpp.

◆ reportNewObservation_lidar_2d()

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

protected

Definition at line 185 of file SensorBase.cpp.

◆ sensor_period()

double mvsim::SensorBase::sensor_period ( ) const

inline

Definition at line 65 of file SensorBase.h.

◆ should_simulate_sensor()

bool SensorBase::should_simulate_sensor ( const TSimulContext & context )

protected

Should be called within each derived class simul_post_timestep() method to update sensor_last_timestamp_ and check if the sensor should be simulated now, given the current simulation time, and the sensor rate in sensor_period_.

Returns: true if it is now time to simulate a new sensor reading, false otherwise.

Definition at line 262 of file SensorBase.cpp.

◆ simulateOn3DScene()

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

inlinevirtual

Definition at line 53 of file SensorBase.h.

◆ vehicle() [1/2]

Simulable& mvsim::SensorBase::vehicle ( )

inline

The vehicle this sensor is attached to

Definition at line 68 of file SensorBase.h.

◆ vehicle() [2/2]

const Simulable& mvsim::SensorBase::vehicle ( ) const

inline

Definition at line 69 of file SensorBase.h.

◆ world() [1/2]

World* mvsim::SensorBase::world ( )

inlineprotected

Definition at line 84 of file SensorBase.h.

◆ world() [2/2]

const World* mvsim::SensorBase::world ( ) const

inlineprotected

Definition at line 85 of file SensorBase.h.

Member Data Documentation

◆ publishTopic_

std::string mvsim::SensorBase::publishTopic_

protected

Publish to MVSIM ZMQ topic stream, if not empty (default)

Definition at line 94 of file SensorBase.h.

◆ sensor_last_timestamp_

double mvsim::SensorBase::sensor_last_timestamp_ = 0

protected

The last sensor reading timestamp. See sensor_period_

Definition at line 91 of file SensorBase.h.

◆ sensor_period_

double mvsim::SensorBase::sensor_period_ = 0.1

protected

Generate one sensor reading every this period s

Definition at line 88 of file SensorBase.h.

◆ varValues_

std::map<std::string, std::string> mvsim::SensorBase::varValues_

protected

Filled in by SensorBase::loadConfigFrom()

Definition at line 97 of file SensorBase.h.

◆ vehicle_

Simulable& mvsim::SensorBase::vehicle_

protected

The vehicle this sensor is attached to.

Definition at line 82 of file SensorBase.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ SensorBase()

◆ ~SensorBase()

Member Function Documentation

◆ factory()

◆ GetAllSensorsFOVViz()

◆ GetAllSensorsOriginViz()

◆ loadConfigFrom()

◆ make_sure_we_have_a_name()

◆ parseSensorPublish()

◆ registerOnServer()

◆ RegisterSensorFOVViz()

◆ RegisterSensorOriginViz()

◆ reportNewObservation()

◆ reportNewObservation_lidar_2d()

◆ sensor_period()

◆ should_simulate_sensor()

◆ simulateOn3DScene()

◆ vehicle() [1/2]

◆ vehicle() [2/2]

◆ world() [1/2]

◆ world() [2/2]

Member Data Documentation

◆ publishTopic_

◆ sensor_last_timestamp_

◆ sensor_period_

◆ varValues_

◆ vehicle_