#include <CscLidar2DEngineSimulated.h>

Inheritance diagram for conscience_core::lidar::CscLidar2DEngineSimulated:

Public Member Functions
	CscLidar2DEngineSimulated (const string &entitySerialNumber, CscEnvironmentSimulator &globalEnvironmentSimulator, double maxDistance=5000, unsigned int numberOfValues=720)

void	startEngine () override

void	stopEngine () override

	~CscLidar2DEngineSimulated () override

void	keepValues ()

Public Member Functions inherited from conscience_core::lidar::CscLidarEngine
	CscLidarEngine ()

const LidarValues &	getCurrentValues ()

void	integrate2DValuesAtTime (const map< double, double > &newValues, unsigned long long timestamp, optional< OdometryData > odometry={})

void	integrate3DRangeImageAtTime (uint16_t rows, uint16_t cols, uint32_t frameId, bool isKeyFrame, const uint8_t *data, uint32_t itemCount, const LidarImuData &imu, const optional< OdometryData > &odometry, LidarExtrinsics lidarExtrinsics, unsigned long long timestamp)

void	integrate3DPointCloudAtTime (const CscPointCloud3d *pointCloud, unsigned long long timestamp, optional< OdometryData > odometry={})

virtual	~CscLidarEngine ()

void	activateLidarMode (CscLidarMode newLidarMode)

void	addLidarMode (CscLidarMode newLidarMode)

void	removeLidarMode (CscLidarMode lidarModeToRemove)

bool	isLidarModeRunning (CscLidarMode lidarModeSearched)

bool	isLidarModeActive (CscLidarMode lidarModeSearched)

bool	isLidarEngineActivated ()

void	stopLidarEngine ()

unsigned long long	getLastLidarValuesTime () const

unsigned long long	getLidarValuesTimeToRetrieve () const

unsigned long long	getLidarValuesTimeBetweenUpdate () const

void	setOnNewValuesListener (const optional< function< void(const LidarValuesSnapshot &)>> &onNewValues={})

optional< function< void()> >	getOnActivatedListener () const

void	setOnActivatedListener (const optional< function< void()>> &onActivated={})

Additional Inherited Members
Static Public Member Functions inherited from conscience_core::lidar::CscLidarEngine
static bool	isSlamAutoEnabled ()

static vector< CscPoint3d * >	toWorldPoints (const map< double, double > &lidarValues, const CscQuaternion &entityOrientation, const CscPoint3d &entityPosition)

Protected Member Functions inherited from conscience_core::lidar::CscLidarEngine
void	get2dValues (map< double, double > lidarPoints, optional< OdometryData > odometry, unsigned long long &timestamp)

Protected Attributes inherited from conscience_core::lidar::CscLidarEngine
mutex	lidarValuesMutex

LidarValues	values

optional< function< void(const LidarValuesSnapshot &)> >	onNewValues = {}

optional< function< void()> >	onActivated = {}

Detailed Description

A 2D lidar engine implementation based on loaded places hits from entity. It's almost a perfect lidar scan generator because it matches perfectly the place around the robot

Constructor & Destructor Documentation

◆ CscLidar2DEngineSimulated()

conscience_core::lidar::CscLidar2DEngineSimulated::CscLidar2DEngineSimulated	(	const string &	entitySerialNumber,
		CscEnvironmentSimulator &	globalEnvironmentSimulator,
		double	maxDistance = `5000`,
		unsigned int	numberOfValues = `720`
	)

◆ ~CscLidar2DEngineSimulated()

conscience_core::lidar::CscLidar2DEngineSimulated::~CscLidar2DEngineSimulated ( )

override

Member Function Documentation

◆ keepValues()

void conscience_core::lidar::CscLidar2DEngineSimulated::keepValues ( )

lidar simulator will keep sending current values without refreshing it from places hits

◆ startEngine()

void conscience_core::lidar::CscLidar2DEngineSimulated::startEngine ( )

overridevirtual

Reimplemented from conscience_core::lidar::CscLidarEngine.

◆ stopEngine()

void conscience_core::lidar::CscLidar2DEngineSimulated::stopEngine ( )