#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::GpuRaySensor:

Public Member Functions
	GpuRaySensor ()
	Constructor.

virtual	~GpuRaySensor ()
	Destructor.

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

void	DisconnectNewLaserFrame (event::ConnectionPtr &_conn)
	Disconnect Laser Frame.

math::Angle	GetAngleMax () const
	Get the maximum angle.

math::Angle	GetAngleMin () const
	Get the minimum angle.

double	GetAngleResolution () const
	Get radians between each range.

unsigned int	GetCameraCount () const
	Gets the camera count.

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

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

int	GetFiducial (int _index) const
	Get detected fiducial value for a ray.

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

double	GetHorzHalfAngle () const
	Get (horizontal_max_angle + horizontal_min_angle) * 0.5.

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

double	GetRange (int _index)
	Get detected range for a ray.

int	GetRangeCount () const
	Get the range count.

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

double	GetRangeMax () const
	Get the maximum range.

double	GetRangeMin () const
	Get the minimum range.

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

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

int	GetRayCount () const
	Get the ray count.

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

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

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

double	GetVertHalfAngle () const
	Get (vertical_max_angle + vertical_min_angle) * 0.5.

math::Angle	GetVerticalAngleMax () const
	Get the vertical scan line top angle.

math::Angle	GetVerticalAngleMin () const
	Get the vertical scan bottom angle.

int	GetVerticalRangeCount () const
	Get the vertical scan line count.

int	GetVerticalRayCount () const
	Get the vertical scan line count.

virtual void	Init ()
	Initialize the ray.

bool	IsHorizontal () const
	Gets if sensor is horizontal.

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

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

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

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

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

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

Public Member Functions inherited from gazebo::sensors::Sensor
	Sensor (SensorCategory _cat)
	Constructor.

virtual	~Sensor ()
	Destructor.

template<typename T >
event::ConnectionPtr	ConnectUpdated (T _subscriber)
	Connect a signal that is triggered when the sensor is updated.

void	DisconnectUpdated (event::ConnectionPtr &_c)
	Disconnect from a the updated signal.

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

SensorCategory	GetCategory () const
	Get the category of the sensor.

common::Time	GetLastMeasurementTime ()
	Return last measurement time.

common::Time	GetLastUpdateTime ()
	Return last update time.

std::string	GetName () const
	Get name.

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

virtual math::Pose	GetPose () const
	Get the current pose.

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

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

std::string	GetType () const
	Get sensor type.

double	GetUpdateRate ()
	Get the update rate of the sensor.

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

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

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

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

void	ResetLastUpdateTime ()
	Reset the lastUpdateTime to zero.

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

virtual void	SetParent (const std::string &_name)
	Set the parent of the sensor.

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

void	Update (bool _force)
	Update the sensor.

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

virtual void	UpdateImpl (bool _force)
	Update the sensor information.

Protected Attributes
unsigned int	cameraCount
	Number of cameras.

sdf::ElementPtr	cameraElem
	Camera SDF element.

double	chfov
	Cos horizontal field-of-view.

double	cvfov
	Cos vertical field-of-view.

double	far
	Far clip plane.

double	hfov
	Horizontal field-of-view.

sdf::ElementPtr	horzElem
	Horizontal SDF element.

double	horzHalfAngle
	Horizontal half angle.

unsigned int	horzRangeCount
	Horizontal range count.

unsigned int	horzRayCount
	Horizontal ray count.

bool	isHorizontal
	True if the sensor is horizontal only.

double	near
	Near clip plane.

double	rangeCountRatio
	Range count ratio.

sdf::ElementPtr	rangeElem
	Range SDF element.

double	rayCountRatio
	Ray count ratio.

sdf::ElementPtr	scanElem
	Scan SDF elementz.

sdf::ElementPtr	vertElem
	Vertical SDF element.

double	vertHalfAngle
	Vertical half angle.

unsigned int	vertRangeCount
	Vertical range count.

unsigned int	vertRayCount
	Vertical ray count.

double	vfov
	Vertical field-of-view.

Protected Attributes inherited from gazebo::sensors::Sensor
bool	active
	True if sensor generation is active.

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

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

common::Time	lastUpdateTime
	Time of the last update.

transport::NodePtr	node
	Node for communication.

std::string	parentName
	Name of the parent.

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

math::Pose	pose
	Pose of the sensor.

transport::SubscriberPtr	poseSub
	Subscribe to pose updates.

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

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

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

Constructor & Destructor Documentation

gazebo::sensors::GpuRaySensor::GpuRaySensor ( )

Constructor.

virtual gazebo::sensors::GpuRaySensor::~GpuRaySensor ( )

virtual

Destructor.

Member Function Documentation

event::ConnectionPtr gazebo::sensors::GpuRaySensor::ConnectNewLaserFrame ( boost::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.

void gazebo::sensors::GpuRaySensor::DisconnectNewLaserFrame ( event::ConnectionPtr & _conn )

Disconnect Laser Frame.

Parameters

[in,out] _conn Connection pointer to disconnect.

virtual void gazebo::sensors::GpuRaySensor::Fini ( )

protectedvirtual

Finalize the ray.

Reimplemented from gazebo::sensors::Sensor.

math::Angle gazebo::sensors::GpuRaySensor::GetAngleMax ( ) const

Get the maximum angle.

Returns: the maximum angle

math::Angle gazebo::sensors::GpuRaySensor::GetAngleMin ( ) const

Get the minimum angle.

Returns: The minimum angle

double gazebo::sensors::GpuRaySensor::GetAngleResolution ( ) const

Get radians between each range.

unsigned int gazebo::sensors::GpuRaySensor::GetCameraCount ( ) const

Gets the camera count.

Returns: Number of cameras

double gazebo::sensors::GpuRaySensor::GetCosHorzFOV ( ) const

Get Cos Horz field-of-view.

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

double gazebo::sensors::GpuRaySensor::GetCosVertFOV ( ) const

Get Cos Vert field-of-view.

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

int gazebo::sensors::GpuRaySensor::GetFiducial ( 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

double gazebo::sensors::GpuRaySensor::GetHorzFOV ( ) const

Get the horizontal field of view of the laser sensor.

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

double gazebo::sensors::GpuRaySensor::GetHorzHalfAngle ( ) const

Get (horizontal_max_angle + horizontal_min_angle) * 0.5.

Returns: (horizontal_max_angle + horizontal_min_angle) * 0.5

rendering::GpuLaserPtr gazebo::sensors::GpuRaySensor::GetLaserCamera ( ) const

inline

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

Returns: Pointer to GpuLaser

double gazebo::sensors::GpuRaySensor::GetRange ( int _index )

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 DBL_MAX for no detection.

int gazebo::sensors::GpuRaySensor::GetRangeCount ( ) const

Get the range count.

Returns: The number of ranges

double gazebo::sensors::GpuRaySensor::GetRangeCountRatio ( ) 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.

double gazebo::sensors::GpuRaySensor::GetRangeMax ( ) const

Get the maximum range.

Returns: The maximum range

double gazebo::sensors::GpuRaySensor::GetRangeMin ( ) const

Get the minimum range.

Returns: The minimum range

double gazebo::sensors::GpuRaySensor::GetRangeResolution ( ) 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

void gazebo::sensors::GpuRaySensor::GetRanges ( std::vector< double > & _ranges ) const

Get all the ranges.

Parameters

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

int gazebo::sensors::GpuRaySensor::GetRayCount ( ) const

Get the ray count.

Returns: The number of rays

double gazebo::sensors::GpuRaySensor::GetRayCountRatio ( ) 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.

double gazebo::sensors::GpuRaySensor::GetRetro ( 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

double gazebo::sensors::GpuRaySensor::GetVertFOV ( ) const

Get the vertical field-of-view.

double gazebo::sensors::GpuRaySensor::GetVertHalfAngle ( ) const

Get (vertical_max_angle + vertical_min_angle) * 0.5.

Returns: (vertical_max_angle + vertical_min_angle) * 0.5

math::Angle gazebo::sensors::GpuRaySensor::GetVerticalAngleMax ( ) const

Get the vertical scan line top angle.

Returns: The Maximum angle of the scan block

math::Angle gazebo::sensors::GpuRaySensor::GetVerticalAngleMin ( ) const

Get the vertical scan bottom angle.

Returns: The minimum angle of the scan block

int gazebo::sensors::GpuRaySensor::GetVerticalRangeCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

int gazebo::sensors::GpuRaySensor::GetVerticalRayCount ( ) const

Get the vertical scan line count.

Returns: The number of scan lines vertically

virtual void gazebo::sensors::GpuRaySensor::Init ( )

virtual

Initialize the ray.

Reimplemented from gazebo::sensors::Sensor.

bool gazebo::sensors::GpuRaySensor::IsHorizontal ( ) const

Gets if sensor is horizontal.

Returns: True if horizontal, false if not

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

virtual

Load the sensor with SDF parameters.

Parameters

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

virtual void gazebo::sensors::GpuRaySensor::Load ( const std::string & _worldName )

virtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from

Reimplemented from gazebo::sensors::Sensor.

void gazebo::sensors::GpuRaySensor::SetAngleMax ( double _angle )

Set the scan maximum angle.

Parameters

[in] _angle The maximum angle

void gazebo::sensors::GpuRaySensor::SetAngleMin ( double _angle )

Set the scan minimum angle.

Parameters

[in] _angle The minimum angle

void gazebo::sensors::GpuRaySensor::SetVerticalAngleMax ( double _angle )

Set the vertical scan line top angle.

Parameters

[in] _angle The Maximum angle of the scan block

void gazebo::sensors::GpuRaySensor::SetVerticalAngleMin ( double _angle )

Set the vertical scan bottom angle.

Parameters

[in] _angle The minimum angle of the scan block

virtual void gazebo::sensors::GpuRaySensor::UpdateImpl ( bool _force )

protectedvirtual

Update the sensor information.

Parameters

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

Reimplemented from gazebo::sensors::Sensor.

Member Data Documentation

unsigned int gazebo::sensors::GpuRaySensor::cameraCount

protected

Number of cameras.

sdf::ElementPtr gazebo::sensors::GpuRaySensor::cameraElem

protected

Camera SDF element.

double gazebo::sensors::GpuRaySensor::chfov

protected

Cos horizontal field-of-view.

double gazebo::sensors::GpuRaySensor::cvfov

protected

Cos vertical field-of-view.

double gazebo::sensors::GpuRaySensor::far

protected

Far clip plane.

double gazebo::sensors::GpuRaySensor::hfov

protected

Horizontal field-of-view.

sdf::ElementPtr gazebo::sensors::GpuRaySensor::horzElem

protected

Horizontal SDF element.

double gazebo::sensors::GpuRaySensor::horzHalfAngle

protected

Horizontal half angle.

unsigned int gazebo::sensors::GpuRaySensor::horzRangeCount

protected

Horizontal range count.

unsigned int gazebo::sensors::GpuRaySensor::horzRayCount

protected

Horizontal ray count.

bool gazebo::sensors::GpuRaySensor::isHorizontal

protected

True if the sensor is horizontal only.

double gazebo::sensors::GpuRaySensor::near

protected

Near clip plane.

double gazebo::sensors::GpuRaySensor::rangeCountRatio

protected

Range count ratio.

sdf::ElementPtr gazebo::sensors::GpuRaySensor::rangeElem

protected

Range SDF element.

double gazebo::sensors::GpuRaySensor::rayCountRatio

protected

Ray count ratio.

sdf::ElementPtr gazebo::sensors::GpuRaySensor::scanElem

protected

Scan SDF elementz.

sdf::ElementPtr gazebo::sensors::GpuRaySensor::vertElem

protected

Vertical SDF element.

double gazebo::sensors::GpuRaySensor::vertHalfAngle

protected

Vertical half angle.

unsigned int gazebo::sensors::GpuRaySensor::vertRangeCount

protected

Vertical range count.

unsigned int gazebo::sensors::GpuRaySensor::vertRayCount

protected

Vertical ray count.

double gazebo::sensors::GpuRaySensor::vfov

protected

Vertical field-of-view.

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

GpuRaySensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation