#include <RotatingRaySensor.h>

Public Member Functions
	RotatingRaySensor (interfaces::ControlCenter *control, RotatingRayConfig config)

	~RotatingRaySensor (void)

bool	getPointcloud (std::vector< utils::Vector > &pointcloud)
	Returns a complete scan covering the complete defined horizontal range. More...

int	getSensorData (double **) const
	Copies the current full pointcloud to a double array with (x,y,z). More...

virtual void	receiveData (const data_broker::DataInfo &info, const data_broker::DataPackage &package, int callbackParam)
	Receives the measured distances, calculates the vectors in the local sensor frame and transfers them into the world to compensate the movement during pointcloud gathering. More...

virtual void	update (std::vector< interfaces::draw_item > *drawItems)
	Uses the current node pose and the current distances to draw the laser rays. More...

virtual configmaps::ConfigMap	createConfig () const

const RotatingRayConfig &	getConfig () const

utils::Quaternion	turn ()
	Turns the sensor during each simulation step. More...

int	getNumberRays ()
	Number of lasers * number of bands. More...

std::vector< utils::Vector > &	getDirections ()
	Returns all the ray directions as normalized vectors. More...

Public Member Functions inherited from mars::interfaces::BasePolarIntersectionSensor
	BasePolarIntersectionSensor (unsigned long id, std::string name, int cols, int rows, double angleX, double angleY, double maxDistance=std::numeric_limits< double >::infinity())

virtual	~BasePolarIntersectionSensor ()

Public Member Functions inherited from mars::interfaces::BaseNodeSensor
	BaseNodeSensor (unsigned long id, std::string name)

virtual	~BaseNodeSensor ()

utils::Quaternion	getOrientation () const

unsigned long	getAttachedNode ()

Public Member Functions inherited from mars::interfaces::BaseSensor
	BaseSensor ()

virtual	~BaseSensor ()

	BaseSensor (unsigned long id, std::string name)

unsigned long	getID () const

const std::string	getName () const

virtual int	getAsciiData (char *data) const

void	getCoreExchange (core_objects_exchange *obj) const

Public Member Functions inherited from mars::interfaces::BaseArraySensor< double >
	BaseArraySensor (int cols, int rows, int channels=1)

virtual	~BaseArraySensor ()

const std::vector< double >	getData () const

const int &	getCols () const

const int &	getRows () const

const int &	getChannels () const

double &	operator[] (const int &index)

virtual void	resize (int cols, int rows, int channels=1)

Public Member Functions inherited from mars::interfaces::SensorInterface
	SensorInterface (ControlCenter *center)

virtual	~SensorInterface ()

Public Member Functions inherited from mars::data_broker::ReceiverInterface
	ReceiverInterface ()

virtual	~ReceiverInterface ()

Public Member Functions inherited from mars::interfaces::DrawInterface
virtual	~DrawInterface ()

Static Public Member Functions
static interfaces::BaseSensor *	instanciate (interfaces::ControlCenter control, interfaces::BaseConfig config)

static interfaces::BaseConfig *	parseConfig (interfaces::ControlCenter control, configmaps::ConfigMap config)
	Config methods all part of BaseSensor. More...

Static Public Member Functions inherited from mars::interfaces::BaseSensor
static BaseConfig *	parseConfig (ControlCenter control, configmaps::ConfigMap config)

Public Attributes
RotatingRayConfig	config

Public Attributes inherited from mars::interfaces::BasePolarIntersectionSensor
double	stepX

double	stepY

double	maxDistance

Public Attributes inherited from mars::interfaces::BaseSensor
unsigned long	id

std::string	name

unsigned long	updateRate

Protected Member Functions
void	run ()
	The thread will execute this method once it has been started . More...

Private Attributes
std::vector< utils::Vector >	directions
	Contains the normalized scan directions. More...

std::list< utils::Vector >	pointcloud1

std::list< utils::Vector >	pointcloud2

std::list< utils::Vector > *	toCloud

std::list< utils::Vector > *	fromCloud

std::vector< utils::Vector >	pointcloud_full

bool	convertPointCloud

int	nextCloud

double	vertical_resolution

bool	update_available

bool	full_scan

double	turning_offset

double	turning_end_fullscan

utils::Quaternion	orientation_offset

long	positionIndices [3]

long	rotationIndices [4]

double	turning_step

int	nsamples

mars::utils::Mutex	mutex_pointcloud

mars::utils::Mutex	poseMutex

Eigen::Affine3d	current_pose

bool	closeThread

unsigned int	num_points

Additional Inherited Members
Protected Attributes inherited from mars::interfaces::BaseNodeSensor
unsigned long	attached_node

bool	calcAcceletaion

bool	calcSpeed

bool	calcPosition

bool	calcRotationSpeed

bool	calcOrientation

utils::Vector	acceleration

utils::Vector	speed

utils::Vector	position

utils::Vector	rotationSpeed

utils::Quaternion	orientation

Protected Attributes inherited from mars::interfaces::BaseArraySensor< double >
int	cols

int	rows

int	channels

std::vector< double >	data

Protected Attributes inherited from mars::interfaces::SensorInterface
ControlCenter *	control

Private Member Functions inherited from mars::utils::Thread
	Thread ()

virtual	~Thread ()

void	start ()
	Starts the execution of this Thread. More...

void	cancel (bool block=false)
	Tries to cancel the Thread. More...

void	setCancellationPoint ()
	Adds a cancellation point to your run method. More...

bool	wait ()
	stops execution until the thread has finished. More...

bool	join ()

bool	wait (unsigned long timeoutMilliseconds)
	puts the Thread to sleep for a specified amount of time. More...

bool	isRunning () const
	returns `true` if the Thread is running. More...

bool	isFinished () const

void	setStackSize (std::size_t stackSize)

std::size_t	getStackSize () const

bool	isCurrentThread () const

Static Private Member Functions inherited from mars::utils::Thread
static Thread *	getCurrentThread ()

static void	cancelAll (bool block=false)

static void	msleep (unsigned long msec)
	causes the current thread to sleep for More...

Detailed Description

Definition at line 89 of file RotatingRaySensor.h.

Constructor & Destructor Documentation

◆ RotatingRaySensor()

mars::sim::RotatingRaySensor::RotatingRaySensor	(	interfaces::ControlCenter *	control,
		RotatingRayConfig	config
	)

Definition at line 56 of file RotatingRaySensor.cpp.

◆ ~RotatingRaySensor()

mars::sim::RotatingRaySensor::~RotatingRaySensor ( void )

Definition at line 170 of file RotatingRaySensor.cpp.

Member Function Documentation

◆ createConfig()

ConfigMap mars::sim::RotatingRaySensor::createConfig ( ) const

virtual

Reimplemented from mars::interfaces::BaseSensor.

Definition at line 408 of file RotatingRaySensor.cpp.

◆ getConfig()

const RotatingRayConfig & mars::sim::RotatingRaySensor::getConfig ( ) const

Definition at line 435 of file RotatingRaySensor.cpp.

◆ getDirections()

std::vector<utils::Vector>& mars::sim::RotatingRaySensor::getDirections ( )

inline

Returns all the ray directions as normalized vectors.

Definition at line 164 of file RotatingRaySensor.h.

◆ getNumberRays()

int mars::sim::RotatingRaySensor::getNumberRays ( )

Number of lasers * number of bands.

Definition at line 313 of file RotatingRaySensor.cpp.

◆ getPointcloud()

bool mars::sim::RotatingRaySensor::getPointcloud ( std::vector< utils::Vector > & pointcloud )

Returns a complete scan covering the complete defined horizontal range.

The pointcloud is gathered within the world frame and

after a complete scan has been received - transformed into the current local frame. This prevents strong distortions on slower computers. If a full scan is not available an empty pointcloud will be returned.

Definition at line 177 of file RotatingRaySensor.cpp.

◆ getSensorData()

int mars::sim::RotatingRaySensor::getSensorData ( double ** data_ ) const

virtual

Copies the current full pointcloud to a double array with (x,y,z).

Warning: Memory has to be freed manually! Inherited from BaseSensor, implemented from BasePolarIntersectionSensor.

Reimplemented from mars::interfaces::BasePolarIntersectionSensor.

Definition at line 188 of file RotatingRaySensor.cpp.

◆ instanciate()

BaseSensor * mars::sim::RotatingRaySensor::instanciate	(	interfaces::ControlCenter *	control,
		interfaces::BaseConfig *	config
	)

static

Definition at line 50 of file RotatingRaySensor.cpp.

◆ parseConfig()

BaseConfig * mars::sim::RotatingRaySensor::parseConfig	(	interfaces::ControlCenter *	control,
		configmaps::ConfigMap *	config
	)

static

Config methods all part of BaseSensor.

Definition at line 350 of file RotatingRaySensor.cpp.

◆ receiveData()

void mars::sim::RotatingRaySensor::receiveData	(	const data_broker::DataInfo &	info,
		const data_broker::DataPackage &	package,
		int	callbackParam
	)

virtual

Receives the measured distances, calculates the vectors in the local sensor frame and transfers them into the world to compensate the movement during pointcloud gathering.

The points are transformed back to the current node pose when the pointcloud is requested. Inherited from ReceiverInterface. Method is called by the DataBroker as soon as the registered event occurs.

Implements mars::data_broker::ReceiverInterface.

Definition at line 200 of file RotatingRaySensor.cpp.

◆ run()

void mars::sim::RotatingRaySensor::run ( )

protectedvirtual

The thread will execute this method once it has been started .

See also: start(), cancel(), wait(), wait(unsigned long)

Implements mars::utils::Thread.

Definition at line 317 of file RotatingRaySensor.cpp.

◆ turn()

utils::Quaternion mars::sim::RotatingRaySensor::turn ( )

Turns the sensor during each simulation step.

As soon as a full scan has been done (depends on the number of bands) the pointcloud is copied to pointcloud_full and a new scan is initiated. Runs in the same thread than receiveData, so only the use of full_pointcloud (turn(), getPointcloud() and getSensorData()) has to be synchronized.

Definition at line 288 of file RotatingRaySensor.cpp.

◆ update()

void mars::sim::RotatingRaySensor::update ( std::vector< interfaces::draw_item > * drawItems )

virtual

Uses the current node pose and the current distances to draw the laser rays.

Inherited from DrawInterface.

Implements mars::interfaces::DrawInterface.

Definition at line 266 of file RotatingRaySensor.cpp.

Member Data Documentation

◆ closeThread

bool mars::sim::RotatingRaySensor::closeThread

private

Definition at line 197 of file RotatingRaySensor.h.

◆ config

RotatingRayConfig mars::sim::RotatingRaySensor::config

Definition at line 168 of file RotatingRaySensor.h.

◆ convertPointCloud

bool mars::sim::RotatingRaySensor::convertPointCloud

private

Definition at line 183 of file RotatingRaySensor.h.

◆ current_pose

Eigen::Affine3d mars::sim::RotatingRaySensor::current_pose

private

Definition at line 196 of file RotatingRaySensor.h.

◆ directions

std::vector<utils::Vector> mars::sim::RotatingRaySensor::directions

private

Contains the normalized scan directions.

Definition at line 175 of file RotatingRaySensor.h.

◆ fromCloud

std::list<utils::Vector> * mars::sim::RotatingRaySensor::fromCloud

private

Definition at line 181 of file RotatingRaySensor.h.

◆ full_scan

bool mars::sim::RotatingRaySensor::full_scan

private

Definition at line 187 of file RotatingRaySensor.h.

◆ mutex_pointcloud

mars::utils::Mutex mars::sim::RotatingRaySensor::mutex_pointcloud

mutableprivate

Definition at line 195 of file RotatingRaySensor.h.

◆ nextCloud

int mars::sim::RotatingRaySensor::nextCloud

private

Definition at line 184 of file RotatingRaySensor.h.

◆ nsamples

int mars::sim::RotatingRaySensor::nsamples

private

Definition at line 194 of file RotatingRaySensor.h.

◆ num_points

unsigned int mars::sim::RotatingRaySensor::num_points

private

Definition at line 198 of file RotatingRaySensor.h.

◆ orientation_offset

utils::Quaternion mars::sim::RotatingRaySensor::orientation_offset

private

Definition at line 190 of file RotatingRaySensor.h.

◆ pointcloud1

std::list<utils::Vector> mars::sim::RotatingRaySensor::pointcloud1

private

Definition at line 179 of file RotatingRaySensor.h.

◆ pointcloud2

std::list<utils::Vector> mars::sim::RotatingRaySensor::pointcloud2

private

Definition at line 180 of file RotatingRaySensor.h.

◆ pointcloud_full

std::vector<utils::Vector> mars::sim::RotatingRaySensor::pointcloud_full

private

Definition at line 182 of file RotatingRaySensor.h.

◆ poseMutex

mars::utils::Mutex mars::sim::RotatingRaySensor::poseMutex

mutableprivate

Definition at line 195 of file RotatingRaySensor.h.

◆ positionIndices

long mars::sim::RotatingRaySensor::positionIndices[3]

private

Definition at line 191 of file RotatingRaySensor.h.

◆ rotationIndices

long mars::sim::RotatingRaySensor::rotationIndices[4]

private

Definition at line 192 of file RotatingRaySensor.h.

◆ toCloud

std::list<utils::Vector>* mars::sim::RotatingRaySensor::toCloud

private

Definition at line 181 of file RotatingRaySensor.h.

◆ turning_end_fullscan

double mars::sim::RotatingRaySensor::turning_end_fullscan

private

Definition at line 189 of file RotatingRaySensor.h.

◆ turning_offset

double mars::sim::RotatingRaySensor::turning_offset

private

Definition at line 188 of file RotatingRaySensor.h.

◆ turning_step

double mars::sim::RotatingRaySensor::turning_step

private

Definition at line 193 of file RotatingRaySensor.h.

◆ update_available

bool mars::sim::RotatingRaySensor::update_available

private

Definition at line 186 of file RotatingRaySensor.h.

◆ vertical_resolution

double mars::sim::RotatingRaySensor::vertical_resolution

private

Definition at line 185 of file RotatingRaySensor.h.

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

/Developer/bob-learning-dev/simulation/mars/sim/src/sensors/RotatingRaySensor.h
/Developer/bob-learning-dev/simulation/mars/sim/src/sensors/RotatingRaySensor.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RotatingRaySensor()

◆ ~RotatingRaySensor()

Member Function Documentation

◆ createConfig()

◆ getConfig()

◆ getDirections()

◆ getNumberRays()

◆ getPointcloud()

◆ getSensorData()

◆ instanciate()

◆ parseConfig()

◆ receiveData()

◆ run()

◆ turn()

◆ update()

Member Data Documentation

◆ closeThread

◆ config

◆ convertPointCloud

◆ current_pose

◆ directions

◆ fromCloud

◆ full_scan

◆ mutex_pointcloud

◆ nextCloud

◆ nsamples

◆ num_points

◆ orientation_offset

◆ pointcloud1

◆ pointcloud2

◆ pointcloud_full

◆ poseMutex

◆ positionIndices

◆ rotationIndices

◆ toCloud

◆ turning_end_fullscan

◆ turning_offset

◆ turning_step

◆ update_available

◆ vertical_resolution