Lidar

Lidar#

#include "navground/sim/state_estimations/sensor_lidar.h"
struct LidarStateEstimation : public navground::sim::Sensor#

A distance scanner.

Registered properties:

Public Functions

inline std::optional<Scan> read_scan(core::SensingState &state) const#

Reads a scan from a core::SensingState.

Call read_scan_with_name, passing Sensor::get_name.

Parameters:

state – The state

Returns:

A scan or null if none was found.

inline explicit LidarStateEstimation(ng_float_t range = default_range, ng_float_t start_angle = default_start_angle, ng_float_t field_of_view = default_field_of_view, unsigned resolution = default_resolution, const Vector2 &position = Vector2::Zero(), ng_float_t error_bias = default_error_bias, ng_float_t error_std_dev = default_error_std_dev, const std::string &name = "")#

Constructs a new instance.

Parameters:

  • range – [in] The maximal range of the sensor

  • start_angle – [in] The starting angle

  • field_of_view – [in] The field of view

  • resolution – [in] The number of ranging measurements per scan

  • position – [in] The position of the sensor with respect to the agent origin.

  • error_bias – [in] The systematic error for all rangings.

  • error_std_dev – [in] The rangings error standard deviation.

  • name – [in] The name to use as a prefix

inline void set_range(ng_float_t value)#

Sets the range of view.

Parameters:

value – [in] The new value

inline ng_float_t get_range() const#

Gets the range of view.

Returns:

The range of view.

inline void set_start_angle(ng_float_t value)#

Sets the range of view.

Parameters:

value – [in] The new value

inline ng_float_t get_start_angle() const#

Gets the range of view.

Returns:

The range of view.

inline void set_field_of_view(ng_float_t value)#

Sets the range of view.

Parameters:

value – [in] The new value

inline ng_float_t get_field_of_view() const#

Gets the range of view.

Returns:

The range of view.

inline void set_error_bias(ng_float_t value)#

Sets the error bias, i.e., the systematic error for all rangings.

Parameters:

value – [in] The new value

inline ng_float_t get_error_bias() const#

Gets the error bias, i.e., the systematic error for all rangings.

Returns:

The error.

inline void set_error_std_dev(ng_float_t value)#

Sets the rangings error standard deviation.

Parameters:

value – [in] The positive value

inline ng_float_t get_error_std_dev() const#

Gets the rangings error standard deviation.

Returns:

The error.

inline void set_resolution(int value)#

Sets the range of view.

Parameters:

value – [in] The new value

inline int get_resolution() const#

Gets the range of view.

Returns:

The range of view.

inline void set_position(const core::Vector2 &value)#

Sets the position of the sensor with respect to the agent origin.

Parameters:

value – [in] The new value

inline core::Vector2 get_position() const#

Gets the position of the sensor with respect to the agent origin.

Returns:

The position.

ng_float_t get_angular_increment() const#

Gets the angular increment between rays.

Returns:

The angular increment.

std::valarray<ng_float_t> get_angles() const#

Gets the ray angles.

Returns:

The angles.

std::valarray<ng_float_t> measure_ranges(Agent *agent, World *world)#

Compute ranges assuming the sensor is attached to an agent.

Parameters:

  • agent – The agent

  • world – The world

Returns:

The array of ranges

inline const std::valarray<ng_float_t> &read_ranges(core::SensingState &state) const#

Reads the ranges stored in a sensing state.

Calls read_ranges_with_name, passing Sensor::get_name.

Parameters:

state – The state

Returns:

The array of ranges

inline bool has_error() const#

Whether the Lidar is affected by errors.

Returns:

True if affected by errors.

Public Static Functions

static inline std::optional<Scan> read_scan_with_name(core::SensingState &state, const std::string &name = "")#

Reads a scan from a core::SensingState.

Parameters:

  • state – The state

  • name – [in] The namespace of the scan

Returns:

A scan or null if none was found.

static inline ng_float_t compute_angular_increment(ng_float_t field_of_view, ng_float_t resolution)#

Calculates the angular increment.

Parameters:

  • field_of_view – [in] The field of view

  • resolution – [in] The resolution

Returns:

The angular increment.

static std::valarray<ng_float_t> compute_angles(ng_float_t start, ng_float_t field_of_view, unsigned resolution)#

Calculates the angles of a scan.

Parameters:

  • start – [in] The starting angle in radians

  • field_of_view – [in] The field of view in radians

  • resolution – [in] The number of ranging measurements.

Returns:

The angles in radians

static const std::valarray<ng_float_t> &read_ranges_with_name(core::SensingState &state, const std::string &name)#

Reads a ranges stored in a sensing state.

Parameters:

  • state – The state

  • name – [in] The namespace of the ranges

Returns:

An array of ranges or null if none were found.

Public Static Attributes

static const ng_float_t default_range = 1#

The default range

static const ng_float_t default_start_angle = -static_cast<ng_float_t>(core::PI)#

The default start angle [radians]

static const ng_float_t default_field_of_view = core::TWO_PI#

The default field of view [radians]

static const int default_resolution = 100#

The default resolution

static const ng_float_t default_error_bias = 0#

The default error bias

static const ng_float_t default_error_std_dev = 0#

The default error standard deviation

static const std::string field_name = "range"#

The name of the buffer set by the sensor

struct Scan#

Holds a Lidar scan.

Public Functions

inline ng_float_t get_angular_increment() const#

Gets the angular increment between consecutive ranging.

Returns:

The angular increment in radians.

inline std::valarray<ng_float_t> get_angles() const#

Gets the angles of the ranging measurements.

Returns:

The angles in radians

Public Members

const std::valarray<ng_float_t> &ranges#

The range readings.

ng_float_t start_angle#

The starting angle

ng_float_t fov#

The field of view

ng_float_t max_range#

The maximal range

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