Base ROS 2 LIDAR Component class. Other lidar class should inherit from this class. More...
#include <RRBaseLidarComponent.h>
Inheritance diagram for URRBaseLidarComponent:
Collaboration diagram for URRBaseLidarComponent:
Public Member Functions | |
| URRBaseLidarComponent () | |
| virtual bool | Visible (AActor *TargetActor) |
| Return true if laser hits the target actor. This method should be overwritten by child class. More... | |
| void | GetData (TArray< FHitResult > &OutHits, float &OutTime) const |
| Get RecordedHits and TimeOfLastScan. More... | |
| FLinearColor | InterpColorFromIntensity (const float InIntensity) |
 Public Member Functions inherited from URRROS2BaseSensorComponent | |
| URRROS2BaseSensorComponent () | |
| Construct a new URRROS2BaseSensorComponent object. More... | |
| virtual void | DestroyComponent (bool bPromoteChildren=false) override |
| Destroy after stop timers and destroy publisher. More... | |
| virtual void | InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName, const FString &InTopicName, const UROS2QoS InQoS) |
| Create and initialize publisher and start sensor update by calling. More... | |
| virtual void | InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName=TEXT(""), const FString &InTopicName=TEXT("")) |
| Create and initialize publisher and start sensor update by calling. More... | |
| virtual void | CreatePublisher (const FString &InPublisherName=TEXT("")) |
| Create a Publisher with SensorPublisherClass. More... | |
| virtual void | PreInitializePublisher (UROS2NodeComponent *InROS2Node, const FString &InTopicName=TEXT("")) |
| Set publish frequency, topic name and FrameId. More... | |
| virtual void | InitializePublisher (UROS2NodeComponent *InROS2Node, const UROS2QoS InQoS=UROS2QoS::SensorData) |
| Initialize Sensorpublisher by using UROS2Publisher's methods. More... | |
| virtual void | Run () |
| Start timer to update and publish sensor data by using SetTimer. More... | |
| virtual void | Stop () |
| Stop timer to update and publish sensor data by using ClearTimer. More... | |
| virtual void | SensorUpdate () |
| Update Sensor data. This method should be overwritten by child class. More... | |
| virtual void | SetROS2Msg (UROS2GenericMsg *InMessage) |
| Set sensor data to ROS 2 msg. This method should be overwritten by child class. More... | |
Public Attributes | |
| int32 | NSamplesPerScan = 360 |
| float | StartAngle = 0.f |
| [degrees] scan goes from StartAngle to StartAngle+FOVHorizontal More... | |
| float | FOVHorizontal = 360.f |
| [degrees] scan goes from StartAngle to StartAngle+FOVHorizontal More... | |
| float | MinRange = 12.f |
| [m] More... | |
| float | MaxRange = 350.f |
| [m] More... | |
| TEnumAsByte< ECollisionChannel > | TraceCollisionChannel = ECC_Visibility |
| bool | bIgnoreSelf = false |
| FLinearColor | ColorMiss = FColor(255, 127, 0, 255) |
| FLinearColor | ColorMin = FColor(255, 0, 0, 255) |
| FLinearColor | ColorMid = FColor(255, 0, 0, 255) |
| FColor | ColorMax = FColor(255, 255, 255, 255) |
| float | TimeOfLastScan = 0.f |
| float | DHAngle = 0.f |
| TObjectPtr< URRGaussianNoise > | PositionNoise |
| TObjectPtr< URRGaussianNoise > | IntensityNoise |
| float | PositionalNoiseMean = 0.f |
| float | PositionalNoiseVariance = 1.f |
| float | IntensityNoiseMean = 0.f |
| float | IntensityNoiseVariance = .01f |
| uint8 | BWithNoise: 1 |
| TArray< FHitResult > | RecordedHits |
| TArray< FTraceHandle > | TraceHandles |
| bool | bShowLidarRays = true |
| bool | ShowLidarRayMisses = false |
| uint8 | DrawPointDepthIntensity = 0 |
| DepthIntesity of DrawPoint. More... | |
| float | IntensityNonReflective = 1000.f |
| float | IntensityReflective = 6000.f |
| float | IntensityMin = 0.f |
| float | IntensityMax = 10000.f |
| Public Attributes inherited from URRROS2BaseSensorComponent | |
| TSubclassOf< UROS2Publisher > | SensorPublisherClass = URRROS2BaseSensorPublisher::StaticClass() |
| URRROS2BaseSensorPublisher * | SensorPublisher = nullptr |
| TSubclassOf< UROS2GenericMsg > | MsgClass = UROS2GenericMsg::StaticClass() |
| FString | TopicName = TEXT("sensor_data") |
| FString | FrameId = TEXT("sensor_frame") |
| int32 | PublicationFrequencyHz = 30 |
| UROS2QoS | QoS = UROS2QoS::SensorData |
| bool | bAppendNodeNamespace = true |
| Append namespace to FrameId or not. More... | |
| bool | bIsValid = true |
Protected Member Functions | |
| virtual void | BeginPlay () override |
| FLinearColor | InterpolateColor (float InX) |
Static Protected Member Functions | |
| static float | GetIntensityFromDist (float InBaseIntensity, float InDistance) |
Protected Attributes | |
| float | Dt = 0.f |
| Protected Attributes inherited from URRROS2BaseSensorComponent | |
| FTimerHandle | TimerHandle |
Detailed Description
Base ROS 2 LIDAR Component class. Other lidar class should inherit from this class.
UCLASS(ClassGroup = (Custom), Blueprintable, meta = (BlueprintSpawnableComponent))
Constructor & Destructor Documentation
◆ URRBaseLidarComponent()
| URRBaseLidarComponent::URRBaseLidarComponent | ( | ) |
Member Function Documentation
◆ BeginPlay()
|
overrideprotectedvirtual |
◆ GetData()
| void URRBaseLidarComponent::GetData | ( | TArray< FHitResult > & | OutHits, |
| float & | OutTime | ||
| ) | const |
Get RecordedHits and TimeOfLastScan.
adding the rest of the necessary information might be tedious
eventually split into multiple getters
- Parameters
-
OutHits OutTime
◆ GetIntensityFromDist()
|
staticprotected |
◆ InterpColorFromIntensity()
| FLinearColor URRBaseLidarComponent::InterpColorFromIntensity | ( | const float | InIntensity | ) |
◆ InterpolateColor()
|
protected |
◆ Visible()
|
inlinevirtual |
Return true if laser hits the target actor. This method should be overwritten by child class.
- Parameters
-
TargetActor
- Returns
- true
- false
Reimplemented in URR2DLidarComponent, and URR3DLidarComponent.
Member Data Documentation
◆ bIgnoreSelf
| bool URRBaseLidarComponent::bIgnoreSelf = false |
◆ bShowLidarRays
| bool URRBaseLidarComponent::bShowLidarRays = true |
◆ BWithNoise
| uint8 URRBaseLidarComponent::BWithNoise |
◆ ColorMax
| FColor URRBaseLidarComponent::ColorMax = FColor(255, 255, 255, 255) |
◆ ColorMid
| FLinearColor URRBaseLidarComponent::ColorMid = FColor(255, 0, 0, 255) |
◆ ColorMin
| FLinearColor URRBaseLidarComponent::ColorMin = FColor(255, 0, 0, 255) |
◆ ColorMiss
| FLinearColor URRBaseLidarComponent::ColorMiss = FColor(255, 127, 0, 255) |
◆ DHAngle
| float URRBaseLidarComponent::DHAngle = 0.f |
◆ DrawPointDepthIntensity
| uint8 URRBaseLidarComponent::DrawPointDepthIntensity = 0 |
DepthIntesity of DrawPoint.
◆ Dt
|
protected |
◆ FOVHorizontal
| float URRBaseLidarComponent::FOVHorizontal = 360.f |
[degrees] scan goes from StartAngle to StartAngle+FOVHorizontal
◆ IntensityMax
| float URRBaseLidarComponent::IntensityMax = 10000.f |
◆ IntensityMin
| float URRBaseLidarComponent::IntensityMin = 0.f |
◆ IntensityNoise
| TObjectPtr<URRGaussianNoise> URRBaseLidarComponent::IntensityNoise |
◆ IntensityNoiseMean
| float URRBaseLidarComponent::IntensityNoiseMean = 0.f |
◆ IntensityNoiseVariance
| float URRBaseLidarComponent::IntensityNoiseVariance = .01f |
◆ IntensityNonReflective
| float URRBaseLidarComponent::IntensityNonReflective = 1000.f |
◆ IntensityReflective
| float URRBaseLidarComponent::IntensityReflective = 6000.f |
◆ MaxRange
| float URRBaseLidarComponent::MaxRange = 350.f |
◆ MinRange
| float URRBaseLidarComponent::MinRange = 12.f |
◆ NSamplesPerScan
| int32 URRBaseLidarComponent::NSamplesPerScan = 360 |
◆ PositionalNoiseMean
| float URRBaseLidarComponent::PositionalNoiseMean = 0.f |
◆ PositionalNoiseVariance
| float URRBaseLidarComponent::PositionalNoiseVariance = 1.f |
◆ PositionNoise
| TObjectPtr<URRGaussianNoise> URRBaseLidarComponent::PositionNoise |
◆ RecordedHits
| TArray<FHitResult> URRBaseLidarComponent::RecordedHits |
◆ ShowLidarRayMisses
| bool URRBaseLidarComponent::ShowLidarRayMisses = false |
◆ StartAngle
| float URRBaseLidarComponent::StartAngle = 0.f |
[degrees] scan goes from StartAngle to StartAngle+FOVHorizontal
◆ TimeOfLastScan
| float URRBaseLidarComponent::TimeOfLastScan = 0.f |
◆ TraceCollisionChannel
| TEnumAsByte<ECollisionChannel> URRBaseLidarComponent::TraceCollisionChannel = ECC_Visibility |
◆ TraceHandles
| TArray<FTraceHandle> URRBaseLidarComponent::TraceHandles |
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Sensors/RRBaseLidarComponent.h
