Boundary

#include "navground/sim/state_estimations/sensor_boundary.h"

struct BoundarySensor : public navground::sim::Sensor

Returns the distance to a rectangular boundary.

Registered properties:

• range (float, get_range)

• min_x (float, get_min_x)

• max_x (float, get_max_x)

• min_y (float, get_min_y)

• max_y (float, get_max_y)

Public Functions

inline explicit BoundarySensor(ng_float_t range = default_range, ng_float_t min_x = low, ng_float_t max_x = high, ng_float_t min_y = low, ng_float_t max_y = high, const std::string &name = "")

Constructs a new instance.

Parameters:

• range – [in] The range of view

• min_x – [in] The minimal x coordinate

• max_x – [in] The maximal x coordinate

• min_y – [in] The minimal y coordinate

• max_y – [in] The maximal y coordinate

• 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_min_x(ng_float_t value)

Sets the minimum x.

Parameters:

value – [in] The value

inline ng_float_t get_min_x() const

Gets the minimum x.

Returns:

The minimum x.

inline void set_max_x(ng_float_t value)

Sets the maximum x.

Parameters:

value – [in] The value

inline ng_float_t get_max_x() const

Gets the maximum x.

Returns:

The maximum x.

inline void set_min_y(ng_float_t value)

Sets the minimum y.

Parameters:

value – [in] The value

inline ng_float_t get_min_y() const

Gets the minimum y.

Returns:

The minimum y.

inline void set_max_y(ng_float_t value)

Sets the maximum y.

Parameters:

value – [in] The value

inline ng_float_t get_max_y() const

Gets the maximum y.

Returns:

The maximum y.

Public Static Attributes

static const ng_float_t default_range = 1

The default range

static const ng_float_t low = -std::numeric_limits<ng_float_t>::infinity()

Default lower bound

static const ng_float_t high = std::numeric_limits<ng_float_t>::infinity()

Default upper bound