GPU based laser sensor. More...

#include <sensors/sensors.hh>

Inherits Sensor.

Public Member Functions
	GpuRaySensor ()
	Constructor. More...

virtual	~GpuRaySensor ()
	Destructor. More...

ignition::math::Angle	AngleMax () const
	Get the maximum angle. More...

ignition::math::Angle	AngleMin () const
	Get the minimum angle. More...

double	AngleResolution () const
	Get radians between each range. More...

unsigned int	CameraCount () const
	Gets the camera count. More...

SensorCategory	Category () const
	Get the category of the sensor. More...

event::ConnectionPtr	ConnectNewLaserFrame (std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber)
	Connect to the new laser frame event. More...

event::ConnectionPtr	ConnectUpdated (std::function< void()> _subscriber)
	Connect a signal that is triggered when the sensor is updated. More...

double	CosHorzFOV () const
	Get Cos Horz field-of-view. More...

double	CosVertFOV () const
	Get Cos Vert field-of-view. More...

int	Fiducial (const unsigned int _index) const
	Get detected fiducial value for a ray. More...

void	FillMsg (msgs::Sensor &_msg)
	fills a msgs::Sensor message. More...

double	HorzFOV () const
	Get the horizontal field of view of the laser sensor. More...

double	HorzHalfAngle () const
	Get (horizontal_max_angle + horizontal_min_angle) * 0.5. More...

uint32_t	Id () const
	Get the sensor's ID. More...

virtual void	Init () override
	Initialize the ray. More...

virtual bool	IsActive () const override
	Returns true if sensor generation is active. More...

bool	IsHorizontal () const
	Gets if sensor is horizontal. More...

rendering::GpuLaserPtr	LaserCamera () const
	Returns a pointer to the internally kept rendering::GpuLaser. More...

common::Time	LastMeasurementTime () const
	Return last measurement time. More...

common::Time	LastUpdateTime () const
	Return last update time. More...

virtual void	Load (const std::string &_worldName, sdf::ElementPtr _sdf) override
	Load the sensor with SDF parameters. More...

virtual void	Load (const std::string &_worldName) override
	Load the sensor with default parameters. More...

std::string	Name () const
	Get name. More...

double	NextRequiredTimestamp () const override
	Return the next timestamp going to be used by the sensor. More...

NoisePtr	Noise (const SensorNoiseType _type) const
	Get the sensor's noise model for a specified noise type. More...

uint32_t	ParentId () const
	Get the sensor's parent's ID. More...

std::string	ParentName () const
	Returns the name of the sensor parent. More...

virtual ignition::math::Pose3d	Pose () const
	Get the current pose. More...

double	Range (const int _index) const
	Get detected range for a ray. More...

int	RangeCount () const
	Get the range count. More...

double	RangeCountRatio () const
	Return the ratio of horizontal range count to vertical range count. More...

double	RangeMax () const
	Get the maximum range. More...

double	RangeMin () const
	Get the minimum range. More...

double	RangeResolution () const
	Get the range resolution If RangeResolution is 1, the number of simulated rays is equal to the number of returned range readings. More...

void	Ranges (std::vector< double > &_ranges) const
	Get all the ranges. More...

int	RayCount () const
	Get the ray count. More...

double	RayCountRatio () const
	Return the ratio of horizontal ray count to vertical ray count. More...

double	Retro (const int _index) const
	Get detected retro (intensity) value for a ray. More...

std::string	ScopedName () const
	Get fully scoped name of the sensor. More...

void	SetActive (bool _value) override
	Set whether the sensor is active or not. More...

void	SetAngleMax (const double _angle)
	Set the scan maximum angle. More...

void	SetAngleMin (const double _angle)
	Set the scan minimum angle. More...

void	SetParent (const std::string &_name, const uint32_t _id)
	Set the sensor's parent. More...

virtual void	SetPose (const ignition::math::Pose3d &_pose)
	Set the current pose. More...

void	SetUpdateRate (const double _hz)
	Set the update rate of the sensor. More...

void	SetVerticalAngleMax (const double _angle)
	Set the vertical scan line top angle. More...

void	SetVerticalAngleMin (const double _angle)
	Set the vertical scan bottom angle. More...

virtual std::string	Topic () const override
	Returns the topic name as set in SDF. More...

std::string	Type () const
	Get sensor type. More...

void	Update (bool _force) override
	Update the sensor. More...

double	UpdateRate () const
	Get the update rate of the sensor. More...

double	VertFOV () const
	Get the vertical field-of-view. More...

double	VertHalfAngle () const
	Get (vertical_max_angle + vertical_min_angle) * 0.5. More...

ignition::math::Angle	VerticalAngleMax () const
	Get the vertical scan line top angle. More...

ignition::math::Angle	VerticalAngleMin () const
	Get the vertical scan bottom angle. More...

double	VerticalAngleResolution () const
	Get the vertical angle in radians between each range. More...

int	VerticalRangeCount () const
	Get the vertical scan line count. More...

int	VerticalRayCount () const
	Get the vertical scan line count. More...

bool	Visualize () const
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...

std::string	WorldName () const
	Returns the name of the world the sensor is in. More...

Protected Member Functions
virtual void	Fini () override
	Finalize the ray. More...

bool	NeedsUpdate () override
	Return true if the sensor needs to be updated. More...

void	ResetLastUpdateTime () override
	reset timing related members More...

virtual bool	UpdateImpl (const bool _force) override
	This gets overwritten by derived sensor types. More...

Protected Attributes
bool	active
	True if sensor generation is active. More...

std::vector< event::ConnectionPtr >	connections
	All event connections. More...

common::Time	lastMeasurementTime
	Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl. More...

common::Time	lastUpdateTime
	Time of the last update. More...

transport::NodePtr	node
	Node for communication. More...

ignition::transport::Node	nodeIgn
	Ignition transport node. More...

std::map< SensorNoiseType, NoisePtr >	noises
	Noise added to sensor data. More...

uint32_t	parentId
	The sensor's parent ID. More...

std::string	parentName
	Name of the parent. More...

std::vector< SensorPluginPtr >	plugins
	All the plugins for the sensor. More...

ignition::math::Pose3d	pose
	Pose of the sensor. More...

gazebo::rendering::ScenePtr	scene
	Pointer to the Scene. More...

sdf::ElementPtr	sdf
	Pointer the the SDF element for the sensor. More...

event::EventT< void()>	updated
	Event triggered when a sensor is updated. More...

common::Time	updatePeriod
	Desired time between updates, set indirectly by Sensor::SetUpdateRate. More...

gazebo::physics::WorldPtr	world
	Pointer to the world. More...

Detailed Description

GPU based laser sensor.

This sensor cast rays into the world, tests for intersections, and reports the range to the nearest object. It is used by ranging sensor models (e.g., sonars and scanning laser range finders).

Constructor & Destructor Documentation

◆ GpuRaySensor()

GpuRaySensor ( )

Constructor.

◆ ~GpuRaySensor()

virtual ~GpuRaySensor ( )

virtual

Destructor.

Member Function Documentation

◆ AngleMax()

ignition::math::Angle AngleMax ( ) const

Get the maximum angle.

Returns: the maximum angle

◆ AngleMin()

ignition::math::Angle AngleMin ( ) const

Get the minimum angle.

Returns: The minimum angle

◆ AngleResolution()

double AngleResolution ( ) const

Get radians between each range.

Returns: Return angle resolution

◆ CameraCount()

unsigned int CameraCount ( ) const

Gets the camera count.

Returns: Number of cameras

◆ Category()

SensorCategory Category ( ) const

inherited

Get the category of the sensor.

Returns: The category of the sensor.

See also: SensorCategory

◆ ConnectNewLaserFrame()

event::ConnectionPtr ConnectNewLaserFrame ( std::function< void(const float *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

Connect to the new laser frame event.

Parameters

[in] _subscriber Event callback.

◆ ConnectUpdated()

event::ConnectionPtr ConnectUpdated ( std::function< void()> _subscriber )

inherited

Connect a signal that is triggered when the sensor is updated.

Parameters

[in] _subscriber Callback that receives the signal.

Returns: A pointer to the connection. This must be kept in scope.

See also: Sensor::DisconnectUpdated

◆ CosHorzFOV()

double CosHorzFOV ( ) const

Get Cos Horz field-of-view.

Returns: 2 * atan(tan(this->hfov/2) / cos(this->vfov/2))

◆ CosVertFOV()

double CosVertFOV ( ) const

Get Cos Vert field-of-view.

Returns: 2 * atan(tan(this->vfov/2) / cos(this->hfov/2))

◆ Fiducial()

int Fiducial ( const unsigned int _index ) const

Get detected fiducial value for a ray.

Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).

Parameters

[in] _index Index of specific ray

Returns: Fiducial value of ray

◆ FillMsg()

void FillMsg ( msgs::Sensor & _msg )

inherited

fills a msgs::Sensor message.

Parameters

[out] _msg Message to fill.

◆ Fini()

virtual void Fini ( )

overrideprotectedvirtual

Finalize the ray.

Reimplemented from Sensor.

◆ HorzFOV()

double HorzFOV ( ) const

Get the horizontal field of view of the laser sensor.

Returns: The horizontal field of view of the laser sensor.

◆ HorzHalfAngle()

double HorzHalfAngle ( ) const

Get (horizontal_max_angle + horizontal_min_angle) * 0.5.

Returns: (horizontal_max_angle + horizontal_min_angle) * 0.5

◆ Id()

uint32_t Id ( ) const

inherited

Get the sensor's ID.

Returns: The sensor's ID.

◆ Init()

virtual void Init ( )

overridevirtual

Initialize the ray.

Reimplemented from Sensor.

◆ IsActive()

virtual bool IsActive ( ) const

overridevirtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from Sensor.

◆ IsHorizontal()

bool IsHorizontal ( ) const

Gets if sensor is horizontal.

Returns: True if horizontal, false if not

◆ LaserCamera()

rendering::GpuLaserPtr LaserCamera ( ) const

Returns a pointer to the internally kept rendering::GpuLaser.

Returns: Pointer to GpuLaser

◆ LastMeasurementTime()

common::Time LastMeasurementTime ( ) const

inherited

Return last measurement time.

Returns: Time of last measurement.

◆ LastUpdateTime()

common::Time LastUpdateTime ( ) const

inherited

Return last update time.

Returns: Time of last update.

◆ Load() [1/2]

virtual void Load	(	const std::string &	_worldName,
		sdf::ElementPtr	_sdf
	)

overridevirtual

Load the sensor with SDF parameters.

Parameters

[in]	_sdf	SDF Sensor parameters
[in]	_worldName	Name of world to load from

Reimplemented from Sensor.

◆ Load() [2/2]

virtual void Load ( const std::string & _worldName )

overridevirtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from

Reimplemented from Sensor.

◆ Name()

std::string Name ( ) const

inherited

Get name.

Returns: Name of sensor.

◆ NeedsUpdate()

bool NeedsUpdate ( )

overrideprotectedvirtual

Return true if the sensor needs to be updated.

Returns: True when sensor should be updated.

Reimplemented from Sensor.

◆ NextRequiredTimestamp()

double NextRequiredTimestamp ( ) const

overridevirtual

Return the next timestamp going to be used by the sensor.

Returns: the timestamp

Reimplemented from Sensor.

◆ Noise()

NoisePtr Noise ( const SensorNoiseType _type ) const

inherited

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

◆ ParentId()

uint32_t ParentId ( ) const

inherited

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

◆ ParentName()

std::string ParentName ( ) const

inherited

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

◆ Pose()

virtual ignition::math::Pose3d Pose ( ) const

virtualinherited

Get the current pose.

Returns: Current pose of the sensor.

See also: SetPose()

◆ Range()

double Range ( const int _index ) const

Get detected range for a ray.

Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).

Parameters

[in] _index Index of specific ray

Returns: Returns RangeMax for no detection.

◆ RangeCount()

int RangeCount ( ) const

Get the range count.

Returns: The number of ranges

◆ RangeCountRatio()

double RangeCountRatio ( ) const

Return the ratio of horizontal range count to vertical range count.

A ray count is the number of simulated rays. Whereas a range count is the total number of data points returned. When range count != ray count, then values are interpolated between rays.

◆ RangeMax()

double RangeMax ( ) const

Get the maximum range.

Returns: The maximum range

◆ RangeMin()

double RangeMin ( ) const

Get the minimum range.

Returns: The minimum range

◆ RangeResolution()

double RangeResolution ( ) const

Get the range resolution If RangeResolution is 1, the number of simulated rays is equal to the number of returned range readings.

If it's less than 1, fewer simulated rays than actual returned range readings are used, the results are interpolated from two nearest neighbors, and vice versa.

Returns: The Range Resolution

◆ Ranges()

void Ranges ( std::vector< double > & _ranges ) const

Get all the ranges.

Parameters

[out] _range A vector that will contain all the range data

◆ RayCount()

int RayCount ( ) const

Get the ray count.

Returns: The number of rays

◆ RayCountRatio()

double RayCountRatio ( ) const

Return the ratio of horizontal ray count to vertical ray count.

A ray count is the number of simulated rays. Whereas a range count is the total number of data points returned. When range count != ray count, then values are interpolated between rays.

◆ ResetLastUpdateTime()

void ResetLastUpdateTime ( )

overrideprotectedvirtual

reset timing related members

Reimplemented from Sensor.

◆ Retro()

double Retro ( const int _index ) const

Get detected retro (intensity) value for a ray.

Warning: If you are accessing all the ray data in a loop it's possible that the Ray will update in the middle of your access loop. This means some data will come from one scan, and some from another scan. You can solve this problem by using SetActive(false) <your accessor="" loop>=""> SetActive(true).

Parameters

[in] _index Index of specific ray

Returns: Intensity value of ray

◆ ScopedName()

std::string ScopedName ( ) const

inherited

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

◆ SetActive()

void SetActive ( bool _value )

overridevirtual

Set whether the sensor is active or not.

Parameters

[in] _value True if active, false if not.

Reimplemented from Sensor.

◆ SetAngleMax()

void SetAngleMax ( const double _angle )

Set the scan maximum angle.

Parameters

[in] _angle The maximum angle

◆ SetAngleMin()

void SetAngleMin ( const double _angle )

Set the scan minimum angle.

Parameters

[in] _angle The minimum angle

◆ SetParent()

void SetParent	(	const std::string &	_name,
		const uint32_t	_id
	)

inherited

Set the sensor's parent.

Parameters

[in]	_name	The sensor's parent's name.
[in]	_id	The sensor's parent's ID.

◆ SetPose()

virtual void SetPose ( const ignition::math::Pose3d & _pose )

virtualinherited

Set the current pose.

Parameters

[in] _pose New pose of the sensor.

See also: Pose()

◆ SetUpdateRate()

void SetUpdateRate ( const double _hz )

inherited

Set the update rate of the sensor.

Parameters

[in] _hz update rate of sensor.

◆ SetVerticalAngleMax()

void SetVerticalAngleMax ( const double _angle )

Set the vertical scan line top angle.

Parameters

[in] _angle The Maximum angle of the scan block

◆ SetVerticalAngleMin()

void SetVerticalAngleMin ( const double _angle )

Set the vertical scan bottom angle.

Parameters

[in] _angle The minimum angle of the scan block

◆ Topic()

virtual std::string Topic ( ) const

overridevirtual

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented from Sensor.

◆ Type()

std::string Type ( ) const

inherited

Get sensor type.

Returns: Type of sensor.

◆ Update()

void Update ( bool _force )

overridevirtual

Update the sensor.

Parameters

[in] _force True to force update, false otherwise.

Reimplemented from Sensor.

◆ UpdateImpl()

virtual bool UpdateImpl ( const bool )

overrideprotectedvirtual

This gets overwritten by derived sensor types.

This function is called during Sensor::Update. And in turn, Sensor::Update is called by SensorManager::Update

Parameters

[in] _force True if update is forced, false if not

Returns: True if the sensor was updated.

Reimplemented from Sensor.

◆ UpdateRate()

double UpdateRate ( ) const

inherited

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

◆ VertFOV()

double VertFOV ( ) const

Get the vertical field-of-view.

Returns: Vertical field of view.

◆ VertHalfAngle()

double VertHalfAngle ( ) const

Get (vertical_max_angle + vertical_min_angle) * 0.5.

Returns: (vertical_max_angle + vertical_min_angle) * 0.5

◆ VerticalAngleMax()

ignition::math::Angle VerticalAngleMax ( ) const

Get the vertical scan line top angle.

Returns: The Maximum angle of the scan block

◆ VerticalAngleMin()

ignition::math::Angle VerticalAngleMin ( ) const

Get the vertical scan bottom angle.

Returns: The minimum angle of the scan block

◆ VerticalAngleResolution()

double VerticalAngleResolution ( ) const

Get the vertical angle in radians between each range.

Returns: Resolution of the angle

◆ VerticalRangeCount()

int VerticalRangeCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

◆ VerticalRayCount()

int VerticalRayCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

◆ Visualize()

bool Visualize ( ) const

inherited

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns: True if visualized, false if not.

◆ WorldName()

std::string WorldName ( ) const

inherited

Returns the name of the world the sensor is in.

Returns: Name of the world.

Member Data Documentation

◆ active

bool active

protectedinherited

True if sensor generation is active.

◆ connections

std::vector<event::ConnectionPtr> connections

protectedinherited

All event connections.

◆ lastMeasurementTime

common::Time lastMeasurementTime

protectedinherited

Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.

◆ lastUpdateTime

common::Time lastUpdateTime

protectedinherited

Time of the last update.

◆ node

transport::NodePtr node

protectedinherited

Node for communication.

◆ nodeIgn

ignition::transport::Node nodeIgn

protectedinherited

Ignition transport node.

◆ noises

std::map<SensorNoiseType, NoisePtr> noises

protectedinherited

Noise added to sensor data.

◆ parentId

uint32_t parentId

protectedinherited

The sensor's parent ID.

◆ parentName

std::string parentName

protectedinherited

Name of the parent.

◆ plugins

std::vector<SensorPluginPtr> plugins

protectedinherited

All the plugins for the sensor.

◆ pose

ignition::math::Pose3d pose

protectedinherited

Pose of the sensor.

◆ scene

gazebo::rendering::ScenePtr scene

protectedinherited

Pointer to the Scene.

◆ sdf

sdf::ElementPtr sdf

protectedinherited

Pointer the the SDF element for the sensor.

◆ updated

event::EventT<void()> updated

protectedinherited

Event triggered when a sensor is updated.

◆ updatePeriod

common::Time updatePeriod

protectedinherited

Desired time between updates, set indirectly by Sensor::SetUpdateRate.

◆ world

gazebo::physics::WorldPtr world

protectedinherited

Pointer to the world.

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

GpuRaySensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GpuRaySensor()

◆ ~GpuRaySensor()

Member Function Documentation

◆ AngleMax()

◆ AngleMin()

◆ AngleResolution()

◆ CameraCount()

◆ Category()

◆ ConnectNewLaserFrame()

◆ ConnectUpdated()

◆ CosHorzFOV()

◆ CosVertFOV()

◆ Fiducial()

◆ FillMsg()

◆ Fini()

◆ HorzFOV()

◆ HorzHalfAngle()

◆ Id()

◆ Init()

◆ IsActive()

◆ IsHorizontal()

◆ LaserCamera()

◆ LastMeasurementTime()

◆ LastUpdateTime()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Name()

◆ NeedsUpdate()

◆ NextRequiredTimestamp()

◆ Noise()

◆ ParentId()

◆ ParentName()

◆ Pose()

◆ Range()

◆ RangeCount()

◆ RangeCountRatio()

◆ RangeMax()

◆ RangeMin()

◆ RangeResolution()

◆ Ranges()

◆ RayCount()

◆ RayCountRatio()

◆ ResetLastUpdateTime()

◆ Retro()

◆ ScopedName()

◆ SetActive()

◆ SetAngleMax()

◆ SetAngleMin()

◆ SetParent()

◆ SetPose()

◆ SetUpdateRate()

◆ SetVerticalAngleMax()

◆ SetVerticalAngleMin()

◆ Topic()

◆ Type()

◆ Update()

◆ UpdateImpl()

◆ UpdateRate()

◆ VertFOV()

◆ VertHalfAngle()

◆ VerticalAngleMax()

◆ VerticalAngleMin()

◆ VerticalAngleResolution()

◆ VerticalRangeCount()

◆ VerticalRayCount()

◆ Visualize()

◆ WorldName()

Member Data Documentation

◆ active

◆ connections

◆ lastMeasurementTime

◆ lastUpdateTime

◆ node

◆ nodeIgn

◆ noises