Klampt::LaserRangeSensor Class Reference

Simulates a laser range sensor, either sweeping or stationary. Can both simulate both 1D sweeping and 2D sweeping. More...

#include <VisualSensors.h>

Inheritance diagram for Klampt::LaserRangeSensor:

Public Types
enum	{ SweepSinusoid, SweepTriangular, SweepSawtooth }

Public Member Functions
virtual const char *	Type () const override
virtual void	Simulate (SimRobotController *robot, Simulator *sim) override
	Called whenever the sensor is updated from the simulaton.
virtual void	SimulateKinematic (RobotModel &robot, WorldModel &world) override
	Updates the sensor for a kinematic world. Useful for non-simulation debugging.
virtual void	Advance (double dt) override
	Advances to the next time step with duration dt elapsed.
virtual void	Reset () override
	Should be overridden if the sensor is stateful to reset to an initial state.
virtual void	MeasurementNames (vector< string > &names) const override
	Must be overridden to produce a list of names of each measurement.
virtual void	GetMeasurements (vector< double > &values) const override
	Must be overridden to returns a list of all measurements.
virtual void	SetMeasurements (const vector< double > &values) override
virtual map< string, string >	Settings () const override
	Returns a map of all current name-value pairs of the sensor's settings.
virtual bool	GetSetting (const string &name, string &str) const override
	Get a named setting. Returns false if the name is not supported.
virtual bool	SetSetting (const string &name, const string &str) override
virtual void	DrawGL (const RobotModel &robot, const vector< double > &measurements) override
Public Member Functions inherited from Klampt::SensorBase
virtual bool	ReadState (File &f)
virtual bool	WriteState (File &f) const
virtual void	GetInternalState (vector< double > &state) const
	Any other state besides measurements/settings that you might want to store. Used in ReadState.
virtual void	SetInternalState (const vector< double > &state)
	Any other state besides measurements/settings that you might want to store. Used in WriteState.

Public Attributes
int	link
RigidTransform	Tsensor
	z is forward, x points left, y points up
int	measurementCount
	number of readings per cycle
double	depthResolution
	resolution of the depth measurement
double	depthMinimum
double	depthMaximum
	minimum / maximum depth
double	depthVarianceLinear
double	depthVarianceConstant
Real	xSweepMagnitude
Real	xSweepPeriod
Real	xSweepPhase
int	xSweepType
Real	ySweepMagnitude
Real	ySweepPeriod
Real	ySweepPhase
int	ySweepType
vector< double >	depthReadings
Real	last_dt
Real	last_t
Public Attributes inherited from Klampt::SensorBase
string	name
double	rate
bool	enabled

Detailed Description

Simulates a laser range sensor, either sweeping or stationary. Can both simulate both 1D sweeping and 2D sweeping.

Default configuration sets up a 1D triangular scan along x direction with 180 degree field of view and instantaneous measurement.

Note: if you place this inside a robot's geometry, the minimum range should extend past the robot's geometry.

Currently intensity information is not provided.

Configurable settings:

• link
• Tsensor
• measurementCount
• depthResolution
• depthMinimum,depthMaximum
• depthVarianceLinear,depthVarianceConstant
• xSweepMagnitude, xSweepPeriod, xSweepPhase
• xSweepType
• ySweepMagnitude, ySweepPeriod, ySweepPhase
• ySweepType

Member Enumeration Documentation

anonymous enum

enum defining a pattern of the sweep.

• Sinusoid is sin(u*2pi),
• Triangular is 2*(1+abs(u mod 2 - 1))-1 (range is [-1,1])
• Sawtooth is 2*(u mod 1)-1 (range is [-1,1])

To do a continuously rotating sensor, do a sawtooth with magnitude 2pi

Member Function Documentation

virtual void Klampt::LaserRangeSensor::DrawGL ( const RobotModel &  robot, const vector< double > &  measurements  )

overridevirtual

If the sensor can be drawn, draw the sensor on the robot's current configuration, using these measurements, using OpenGL calls.

Reimplemented from Klampt::SensorBase.

virtual void Klampt::LaserRangeSensor::SetMeasurements ( const vector< double > &  values )

overridevirtual

Updates the internal measurement vector. Should be overridden to correctly restore state using ReadState(), or to visualize a physical robot's sensors.

Reimplemented from Klampt::SensorBase.

virtual bool Klampt::LaserRangeSensor::SetSetting ( const string &  name, const string &  str  )

overridevirtual

Set a named setting. Returns false if the name is not supported, or the value is formatted incorrectly

Reimplemented from Klampt::SensorBase.

Member Data Documentation

Real Klampt::LaserRangeSensor::xSweepMagnitude

if period != 0: yaw angle (rotation about y axis) at time t is magnitude*f((t+phase)/period) where f is the sweep type. A measurement is produced every 2 * magnitude / measurementCount radians. If period = 0: measurement sweeps over range of [-magnitude,magnitude]

Real Klampt::LaserRangeSensor::ySweepMagnitude

If period != 0: pitch angle (rotation about x axis) at time t is magnitude*f((t+phase)/period) where f is the sweep type. A measurement is produced every 2 * magnitude / measurementCount radians. If period = 0: measurement sweeps over range of [-magnitude,magnitude]

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

• VisualSensors.h