Simulates a laser range sensor, either sweeping or stationary. Can both simulate both 1D sweeping and 2D sweeping. More...
#include <VisualSensors.h>
Public Types | |
| enum | { SweepSinusoid, SweepTriangular, SweepSawtooth } |
Public Member Functions | |
| virtual const char * | Type () const |
| virtual void | Simulate (ControlledRobotSimulator *robot, WorldSimulation *sim) |
| Called whenever the sensor is updated from the simulaton. | |
| virtual void | SimulateKinematic (Robot &robot, RobotWorld &world) |
| Updates the sensor for a kinematic world. Useful for non-simulation debugging. | |
| virtual void | Advance (double dt) |
| Advances to the next time step with duration dt elapsed. | |
| virtual void | Reset () |
| Should be overridden if the sensor is stateful to reset to an initial state. | |
| virtual void | MeasurementNames (vector< string > &names) const |
| Must be overridden to produce a list of names of each measurement. | |
| virtual void | GetMeasurements (vector< double > &values) const |
| Must be overridden to returns a list of all measurements. | |
| virtual void | SetMeasurements (const vector< double > &values) |
| virtual map< string, string > | Settings () const |
| Returns a map of all current name-value pairs of the sensor's settings. | |
| virtual bool | GetSetting (const string &name, string &str) const |
| Get a named setting. Returns false if the name is not supported. | |
| virtual bool | SetSetting (const string &name, const string &str) |
| virtual void | DrawGL (const Robot &robot, const vector< double > &measurements) |
 Public Member Functions inherited from 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 | |
| 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 SensorBase | |
| string | name |
| double | rate |
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(x*2pi), -Triangular is 2*(1+abs(x mod 2 - 1))-1 (range is [-1,1]) -Sawtooth is 2*(x mod 1)-1 (range is [-1,1])
Member Function Documentation
|
virtual |
If the sensor can be drawn, draw the sensor on the robot's current configuration, using these measurements, using OpenGL calls.
Reimplemented from SensorBase.
|
virtual |
Updates the internal measurement vector. Should be overridden to correctly restore state using ReadState(), or to visualize a physical robot's sensors.
Reimplemented from SensorBase.
|
virtual |
Set a named setting. Returns false if the name is not supported, or the value is formatted incorrectly
Reimplemented from SensorBase.
Member Data Documentation
| Real LaserRangeSensor::xSweepMagnitude |
left-right angle (rotation about z 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]
The documentation for this class was generated from the following file:
