agxSensor::LidarRayDistortionHandler Class Reference

Ray noise handler is responsible for all distortion application to rays before raytrace. More...

#include <LidarRayDistortionHandler.h>

Inheritance diagram for agxSensor::LidarRayDistortionHandler:

Public Member Functions
	LidarRayDistortionHandler ()
	Default constructor.
bool	add (LidarRayDistortion *distortion)
	Add distortion, angle noise etc, to the ray.
bool	contains (const LidarRayDistortion *distortion) const
LidarRayDistortionRefVector	getDistortions () const
bool	remove (LidarRayDistortion *distortion)
	Remove the given distortion configuration from the lidar.
Public Member Functions inherited from agxSensor::RtSystemNode
virtual	~RtSystemNode ()=default
virtual bool	addNotification () override
	Called when this system node has been added to a sensor environment.
virtual void	cleanup () override
	The sensor environment is being put down, clean everything.
template<typename T >
RtSystemNode *	findChildProxyFor () const
RtNode *	getNode () const
RtNode *	getOrCreateNode ()
	Called when the node is required.
virtual void	onChildAdded (SystemNode &child) override
	Called when child has been added to this parent.
virtual void	onChildRemoved (SystemNode &child) override
	Called when child has been removed from this parent.
virtual void	onParentConnect (RtSystemNode &parent)
	Called when getOrCreateNode() returns nullptr when this node is being added as child to parent.
virtual void	onParentDisconnect (RtSystemNode &parent)
	Called when getNode() returns nullptr when this node is being removed from its parent.
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.

Additional Inherited Members
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.
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 agxSensor::RtSystemNode
RtNode *	m_node { nullptr }
Protected Attributes inherited from agx::Referenced
Mutex	m_mutex
ObserverContainer	m_observers
AtomicValue	m_refCount

Detailed Description

Ray noise handler is responsible for all distortion application to rays before raytrace.

This handler can handle multiple distortions, which will be processed in the order they were added.

Definition at line 31 of file LidarRayDistortionHandler.h.

Constructor & Destructor Documentation

LidarRayDistortionHandler()

agxSensor::LidarRayDistortionHandler::LidarRayDistortionHandler

(

)

Default constructor.

Member Function Documentation

add()

bool agxSensor::LidarRayDistortionHandler::add

(

LidarRayDistortion *

distortion

)

Add distortion, angle noise etc, to the ray.

Distortions are processed in the order they were added.

Parameters

distortion

- distortion configuration to add to the lidar

Returns

true if added successfully, false if nullptr or already added

contains()

bool agxSensor::LidarRayDistortionHandler::contains

(

const LidarRayDistortion *

distortion

)

const

Parameters

distortion

- distortion configuration to check if present and active

Returns

true if the given distortion configuration is part of this lidar

getDistortions()

LidarRayDistortionRefVector agxSensor::LidarRayDistortionHandler::getDistortions

(

)

const

Returns

all added lidar ray distortions

remove()

bool agxSensor::LidarRayDistortionHandler::remove

(

LidarRayDistortion *

distortion

)

Remove the given distortion configuration from the lidar.

Parameters

distortion

- distortion configuration to remove

Returns

true if removed successfully, false if nullptr or if the distortion was not previously added to the lidar

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

• LidarRayDistortionHandler.h