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/*
* Copyright 2019 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDF_LIDAR_HH_
#define SDF_LIDAR_HH_
#include <ignition/math/Angle.hh>
#include <ignition/utils/ImplPtr.hh>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/Noise.hh>
#include <sdf/sdf_config.h>
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
/// \brief Lidar contains information about a Lidar sensor.
/// This sensor can be attached to a link. The Lidar sensor can be defined
/// SDF XML using either the "ray" or "lidar" types. The "lidar" type is
/// preffered as "ray" is considered legacy.
///
/// # Example SDF XML using lidar type:
///
/// ~~~{.xml}
/// <sensor name="lidar_sensor" type="lidar">
/// <pose>1 2 3 0 0 0</pose>
/// <lidar>
/// <scan>
/// <horizontal>
/// <samples>320</samples>
/// <resolution>0.9</resolution>
/// <min_angle>1.75</min_angle>
/// <max_angle>2.94</max_angle>
/// </horizontal>
/// <vertical>
/// <samples>240</samples>
/// <resolution>0.8</resolution>
/// <min_angle>2.75</min_angle>
/// <max_angle>3.94</max_angle>
/// </vertical>
/// </scan>
/// <range>
/// <min>1.23</min>
/// <max>4.56</max>
/// <resolution>7.89</resolution>
/// </range>
/// <noise type="gaussian">
/// <mean>0.98</mean>
/// <stddev>0.76</stddev>
/// </noise>
/// </lidar>
/// </sensor>
/// ~~~
///
/// # Example SDF XML using ray type:
///
/// ~~~{.xml}
/// <sensor name="ray_sensor" type="lidar">
/// <pose>1 2 3 0 0 0</pose>
/// <ray>
/// <scan>
/// <horizontal>
/// <samples>320</samples>
/// <resolution>0.9</resolution>
/// <min_angle>1.75</min_angle>
/// <max_angle>2.94</max_angle>
/// </horizontal>
/// <vertical>
/// <samples>240</samples>
/// <resolution>0.8</resolution>
/// <min_angle>2.75</min_angle>
/// <max_angle>3.94</max_angle>
/// </vertical>
/// </scan>
/// <range>
/// <min>1.23</min>
/// <max>4.56</max>
/// <resolution>7.89</resolution>
/// </range>
/// <noise type="gaussian">
/// <mean>0.98</mean>
/// <stddev>0.76</stddev>
/// </noise>
/// </ray>
/// </sensor>
/// ~~~
class SDFORMAT_VISIBLE Lidar
{
/// \brief Default constructor
public: Lidar();
/// \brief Load the lidar based on an element pointer. This is *not*
/// the usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get a pointer to the SDF element that was used during
/// load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Get the number of lidar rays horizontally to generate per laser
/// sweep.
/// \return Number of lidar rays horizontally per laser sweep.
public: unsigned int HorizontalScanSamples() const;
/// \brief Set the number of lidar rays horizontally to generate per laser
/// sweep.
/// \param[in] Number of lidar rays horizontally per laser sweep.
public: void SetHorizontalScanSamples(unsigned int _samples);
/// \brief Get the resolution for horizontal scan.
/// \return Resolution for horizontal scan.
public: double HorizontalScanResolution() const;
/// \brief Set the resolution for horizontal scan.
/// \param[in] Resolution for horizontal scan.
public: void SetHorizontalScanResolution(double _res);
/// \brief Get the minimum angle for horizontal scan.
/// \return Minimum angle for horizontal scan.
public: ignition::math::Angle HorizontalScanMinAngle() const;
/// \brief Set the minimum angle for horizontal scan.
/// \param[in] Minimum angle for horizontal scan.
public: void SetHorizontalScanMinAngle(const ignition::math::Angle &_min);
/// \brief Get the maximum angle for horizontal scan.
/// \return Maximum angle for horizontal scan.
public: ignition::math::Angle HorizontalScanMaxAngle() const;
/// \brief Set the maximum angle for horizontal scan.
/// \param[in] Maximum angle for horizontal scan.
public: void SetHorizontalScanMaxAngle(const ignition::math::Angle &_max);
/// \brief Get the number of lidar rays vertically to generate per laser
/// sweep.
/// \return Number of lidar rays vertically per laser sweep.
public: unsigned int VerticalScanSamples() const;
/// \brief Set the number of lidar rays vertically to generate per laser
/// sweep.
/// \param[in] Number of lidar rays vertically per laser sweep.
public: void SetVerticalScanSamples(unsigned int _samples);
/// \brief Get the resolution for vertical scan.
/// \return Resolution for vertical scan.
public: double VerticalScanResolution() const;
/// \brief Set the resolution for vertical scan.
/// \param[in] Resolution for vertical scan.
public: void SetVerticalScanResolution(double _res);
/// \brief Get the minimum angle for vertical scan.
/// \return Minimum angle for vertical scan.
public: ignition::math::Angle VerticalScanMinAngle() const;
/// \brief Set the minimum angle for vertical scan.
/// \param[in] Minimum angle for vertical scan.
public: void SetVerticalScanMinAngle(const ignition::math::Angle &_min);
/// \brief Get the maximum angle for vertical scan.
/// \return Maximum angle for vertical scan.
public: ignition::math::Angle VerticalScanMaxAngle() const;
/// \brief Set the maximum angle for vertical scan.
/// \param[in] Maximum angle for vertical scan.
public: void SetVerticalScanMaxAngle(const ignition::math::Angle &_max);
/// \brief Get minimum distance for each lidar ray.
/// \return Minimum distance for each lidar ray.
public: double RangeMin() const;
/// \brief Set minimum distance for each lidar ray.
/// \param[in] Minimum distance for each lidar ray.
public: void SetRangeMin(double _min);
/// \brief Get maximum distance for each lidar ray.
/// \return Maximum distance for each lidar ray.
public: double RangeMax() const;
/// \brief Set maximum distance for each lidar ray.
/// \param[in] Maximum distance for each lidar ray.
public: void SetRangeMax(double _max);
/// \brief Get linear resolution of each lidar ray.
/// \return Linear resolution for each lidar ray.
public: double RangeResolution() const;
/// \brief Set linear resolution of each lidar ray.
/// \param[in] Linear resolution for each lidar ray.
public: void SetRangeResolution(double _range);
/// \brief Get the noise values for the lidar sensor.
/// \return Noise values for the lidar sensor.
public: const Noise &LidarNoise() const;
/// \biref Set the noise values for the lidar sensor.
/// \param[in] _noise Noise values for the lidar sensor.
public: void SetLidarNoise(const Noise &_noise);
/// \brief Return true if both Lidar objects contain the same values.
/// \param[_in] _lidar Lidar value to compare.
/// \return True if 'this' == _lidar.
public: bool operator==(const Lidar &_lidar) const;
/// \brief Return true this Lidar object does not contain the same
/// values as the passed in parameter.
/// \param[_in] _lidar Lidar value to compare.
/// \return True if 'this' != _lidar.
public: bool operator!=(const Lidar &_lidar) const;
/// \brief Create and return an SDF element filled with data from this
/// lidar.
/// \return SDF element pointer with updated sensor values.
public: sdf::ElementPtr ToElement() const;
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#endif
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