Lidar instance class defined by a frame/transform and a model. More...

#include <Lidar.h>

Inheritance diagram for agxSensor::Lidar:

Public Member Functions
	Lidar (agx::Frame frame, LidarModel model)
	Construct this lidar given `frame` and `model`.

virtual agx::Frame *	getFrame () const override

LidarFrameNode *	getFrameNode () const

LidarModel *	getModel () const

RtOutputHandler *	getOutputHandler () const

virtual ISensorOutputHandler *	getOutputHandlerBase () const override

LidarRayDistortionHandler *	getRayDistortionHandler () const

virtual void	setFrame (agx::Frame *frame) override
	Assign new frame to this lidar.

Public Member Functions inherited from agxSensor::FrameAttachedSensor
	FrameAttachedSensor ()=default
	Default constructor.

virtual agx::Frame *	getFrame () const =0

virtual void	setFrame (agx::Frame *frame)=0
	Assign a new parent frame to attach this sensor to.

Public Member Functions inherited from agxSensor::Sensor
	Sensor ()=default
	Default constructor.

ISensorOutputHandler *	getOutputHandler () const

virtual ISensorOutputHandler *	getOutputHandlerBase () const =0

Public Member Functions inherited from agxSensor::SystemNode
	SystemNode (const SystemNode &)=delete
	Disallow direct copying of nodes.

virtual	~SystemNode ()=default

bool	addChild (SystemNode *child)
	Add unique child to this node.

virtual bool	addNotification ()
	Called when this system node has been added to a sensor environment.

bool	appendChild (SystemNode *child)
	Append child to vector of children, silently.

virtual void	cleanup ()=0
	The sensor environment is being put down, clean everything.

virtual void	complete ()
	Complete the execution of this system, finishing the integration forward in time.

bool	detachChild (SystemNode *child)
	Detach/erase child from vector of children, silently.

virtual bool	eraseAndConnect ()
	Erase this node from the tree and connect its children to the current parent of this node.

virtual void	execute (const CallbackData &data)
	Execute this system, integrating it `data.dt` forward in time.

template<typename T >
T *	findChild (bool recurse=true) const
	Find child of given type.

template<typename PredicateT >
SystemNode *	findChild (PredicateT pred, bool recurse=true) const
	Find child given predicate `pred`.

template<typename T >
T *	findParent () const

template<typename PredicateT >
SystemNode *	findParent (PredicateT pred) const
	Find parent given predicate.

template<typename T >
T *	getChild () const
	Searches children for a node of given type.

SystemNode *	getChild (size_t index) const

bool	getEnable () const

Environment *	getEnvironment () const

const agx::Name &	getName () const

size_t	getNumChildren () const

SystemNode *	getParent () const

SystemNode *	getRoot () const

bool	hasChild (const SystemNode *child, bool recurse=true) const

virtual bool	insertParent (SystemNode &parent)
	Inserts new parent to this node.

virtual bool	onAdd (agx::Referenced &instance)
	Called when an object has been added to the sensor environment.

virtual void	onChildAdded (SystemNode &child)
	Called when `child` has been added to this parent.

virtual void	onChildRemoved (SystemNode &child)
	Called when `child` has been removed from this parent.

virtual bool	onRemove (agx::Referenced &instance)
	Called when an object has been removed from the sensor environment.

bool	removeChild (SystemNode *child)
	Remove child from this node.

virtual void	removeNotification ()
	Called when this system node is being removed from a sensor environment.

virtual void	result (const CallbackData &data)
	If necessary assemble, and fetch results related to this system node after a step by `data.dt` has been completed.

void	setEnable (bool enable)
	Enable/disable this node.

void	setName (const agx::Name &name)
	Assign name to this node.

virtual void	synchronize (const CallbackData &data)
	Synchronization from the main thread.

virtual void	synchronizeGraphics (const agxRender::RenderManager &renderManager)
	At the very end of a step, synchronize any graphics related aspects of the system node.

template<typename VisitorT >
SystemNode *	visitBf (VisitorT visitor) const
	Visit the tree from, including, this node until `callback` returns true - using breadth first traversal.

template<typename VisitorT >
void	visitChildren (VisitorT visitor, bool recurse=true) const
	Visit all children with `func` as void( const SystemNode& child ).

template<typename VisitorT >
SystemNode *	visitChildrenBf (VisitorT visitor) const
	Visit the tree from the children of this node until `callback` returns true - using breadth first traversal.

template<typename VisitorT >
SystemNode *	visitChildrenDf (VisitorT visitor) const
	Visit the tree from the children of this node until `callback` returns true - using depth first traversal.

template<typename T , typename VisitorT >
void	visitChildrenOfType (VisitorT visitor, bool recurse=true) const
	Visit all children with `func` as void( const T& child ).

template<typename VisitorT >
SystemNode *	visitDf (VisitorT visitor) const
	Visit the tree from, including, this node until `callback` returns true - using depth first traversal.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static Lidar *	find (const agxSDK::Simulation *simulation, const agx::Name &name)
	Find lidar given name.

static Lidar *	find (const Environment *environment, const agx::Name &name)
	Find lidar given name.

static LidarPtrVector	findAll (const agxSDK::Simulation *simulation)
	Find all lidar.

static LidarPtrVector	findAll (const agxSDK::Simulation *simulation, const agx::Name &name)
	Find all lidar given name.

static LidarPtrVector	findAll (const Environment *environment)
	Find all lidar.

static LidarPtrVector	findAll (const Environment *environment, const agx::Name &name)
	Find all lidar given name.

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Additional Inherited Members
Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Lidar instance class defined by a frame/transform and a model.

Any output, such as point cloud, intensity, normals etc., are given as seen from the lidar frame.

Definition at line 39 of file Lidar.h.

Constructor & Destructor Documentation

◆ Lidar()

agxSensor::Lidar::Lidar	(	agx::Frame *	frame,
		LidarModel *	model
	)

Construct this lidar given frame and model.

If the given frame is nullptr, a new frame is created aligned with the world frame.

Note: This lidar instance is invalid if the given model is nullptr.

Parameters

frame	- world frame transform of this lidar, may be dynamic, the output will be given in this frame.
model	- model defining this lidar instance, invalid if nullptr

Member Function Documentation

◆ find() [1/2]

static Lidar * agxSensor::Lidar::find	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find lidar given name.

Parameters

simulation	- simulation with a sensor environment
name	- name of lidar instance to search for

Returns: first lidar instance with name name if found, otherwise nullptr

◆ find() [2/2]

static Lidar * agxSensor::Lidar::find	(	const Environment *	environment,
		const agx::Name &	name
	)

static

Find lidar given name.

Parameters

environment	- sensor environment
name	- name of lidar instance to search for

Returns: first lidar instance with name name if found, otherwise nullptr

◆ findAll() [1/4]

static LidarPtrVector agxSensor::Lidar::findAll ( const agxSDK::Simulation * simulation )

static

Find all lidar.

Parameters

simulation - simulation with a sensor environment

Returns: all lidar instances in the sensor environment

◆ findAll() [2/4]

static LidarPtrVector agxSensor::Lidar::findAll	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find all lidar given name.

Parameters

simulation	- simulation with a sensor environment
name	- name of lidar instance to search for

Returns: lidar instances with name name

◆ findAll() [3/4]

static LidarPtrVector agxSensor::Lidar::findAll ( const Environment * environment )

static

Find all lidar.

Parameters

environment - sensor environment

Returns: all lidar instances in the given sensor environment environment

◆ findAll() [4/4]

static LidarPtrVector agxSensor::Lidar::findAll	(	const Environment *	environment,
		const agx::Name &	name
	)

static

Find all lidar given name.

Parameters

environment	- sensor environment
name	- name of lidar instance to search for

Returns: lidar instances with name name

◆ getFrame()

virtual agx::Frame * agxSensor::Lidar::getFrame ( ) const

overridevirtual

Returns: the frame of this lidar, defining this lidar -> world transform.

Implements agxSensor::FrameAttachedSensor.

◆ getFrameNode()

LidarFrameNode * agxSensor::Lidar::getFrameNode ( ) const

Returns: the frame node in the system tree updating the transform of this lidar

◆ getModel()

LidarModel * agxSensor::Lidar::getModel ( ) const

Returns: the model if this lidar

◆ getOutputHandler()

RtOutputHandler * agxSensor::Lidar::getOutputHandler ( ) const

Returns: the output handler managing the outputs, such as point hits cloud, intensities, normals, etc.

◆ getOutputHandlerBase()

virtual ISensorOutputHandler * agxSensor::Lidar::getOutputHandlerBase ( ) const

overridevirtual

Returns: the output handler managing the outputs, such as point hits cloud, intensities, normals, etc.

Implements agxSensor::Sensor.

◆ getRayDistortionHandler()

LidarRayDistortionHandler * agxSensor::Lidar::getRayDistortionHandler ( ) const

Returns: the ray distortion handler managing any potential distortion applied to the rays before raytrace.

◆ setFrame()

virtual void agxSensor::Lidar::setFrame ( agx::Frame * frame )

overridevirtual

Assign new frame to this lidar.

The results will be given in this new frame the next time the environment is stepped.

Parameters

frame - new frame for this lidar

Implements agxSensor::FrameAttachedSensor.

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

Lidar.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Lidar()

Member Function Documentation

◆ find() [1/2]

◆ find() [2/2]

◆ findAll() [1/4]

◆ findAll() [2/4]

◆ findAll() [3/4]

◆ findAll() [4/4]

◆ getFrame()

◆ getFrameNode()

◆ getModel()

◆ getOutputHandler()

◆ getOutputHandlerBase()

◆ getRayDistortionHandler()

◆ setFrame()