conscience_core::lidar::CscLidarEngine Class Reference

#include <CscLidarEngine.h>

Inheritance diagram for conscience_core::lidar::CscLidarEngine:

Public Member Functions
	CscLidarEngine ()
virtual void	startEngine ()
virtual void	stopEngine ()
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={})

Static Public Member Functions
static bool	isSlamAutoEnabled ()
static vector< CscPoint3d * >	toWorldPoints (const map< double, double > &lidarValues, const CscQuaternion &entityOrientation, const CscPoint3d &entityPosition)

Protected Member Functions
void	get2dValues (map< double, double > **lidarPoints, optional< OdometryData > **odometry, unsigned long long &timestamp)

Protected Attributes
mutex	lidarValuesMutex
LidarValues	values
optional< function< void(const LidarValuesSnapshot &)> >	onNewValues = {}
optional< function< void()> >	onActivated = {}

Constructor & Destructor Documentation

CscLidarEngine()

conscience_core::lidar::CscLidarEngine::CscLidarEngine

(

)

~CscLidarEngine()

conscience_core::lidar::CscLidarEngine::~CscLidarEngine ( )

virtual

Member Function Documentation

activateLidarMode()

void conscience_core::lidar::CscLidarEngine::activateLidarMode

(

CscLidarMode

newLidarMode

)

addLidarMode()

void conscience_core::lidar::CscLidarEngine::addLidarMode

(

CscLidarMode

newLidarMode

)

get2dValues()

void conscience_core::lidar::CscLidarEngine::get2dValues ( map< double, double > **  lidarPoints, optional< OdometryData > **  odometry, unsigned long long &  timestamp  )

protected

getCurrentValues()

const LidarValues & conscience_core::lidar::CscLidarEngine::getCurrentValues

(

)

Warning

not thread safe, direct access to lidar values - which can be modified during access - see getCurrentValuesCopy

See also

getCurrentValuesCopy()

getLastLidarValuesTime()

unsigned long long conscience_core::lidar::CscLidarEngine::getLastLidarValuesTime

(

)

const

getLidarValuesTimeBetweenUpdate()

unsigned long long conscience_core::lidar::CscLidarEngine::getLidarValuesTimeBetweenUpdate

(

)

const

getLidarValuesTimeToRetrieve()

unsigned long long conscience_core::lidar::CscLidarEngine::getLidarValuesTimeToRetrieve

(

)

const

getOnActivatedListener()

optional< function< void()> > conscience_core::lidar::CscLidarEngine::getOnActivatedListener

(

)

const

integrate2DValuesAtTime()

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

Parameters

newValues

see LidarValues::lidarValues map for units

integrate3DPointCloudAtTime()

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

Parameters

pointCloud

relative to entity center

integrate3DRangeImageAtTime()

void conscience_core::lidar::CscLidarEngine::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
	)

Parameters

data	Pointer to encoded binary payload - please see CscRealEntity3dLidarValues::integrateFrame()

isLidarEngineActivated()

bool conscience_core::lidar::CscLidarEngine::isLidarEngineActivated

(

)

isLidarModeActive()

bool conscience_core::lidar::CscLidarEngine::isLidarModeActive

(

CscLidarMode

lidarModeSearched

)

isLidarModeRunning()

bool conscience_core::lidar::CscLidarEngine::isLidarModeRunning

(

CscLidarMode

lidarModeSearched

)

isSlamAutoEnabled()

bool conscience_core::lidar::CscLidarEngine::isSlamAutoEnabled ( )

static

removeLidarMode()

void conscience_core::lidar::CscLidarEngine::removeLidarMode

(

CscLidarMode

lidarModeToRemove

)

setOnActivatedListener()

void conscience_core::lidar::CscLidarEngine::setOnActivatedListener

(

const optional< function< void()>> &

onActivated = {}

)

setOnNewValuesListener()

void conscience_core::lidar::CscLidarEngine::setOnNewValuesListener

(

const optional< function< void(const LidarValuesSnapshot &)>> &

onNewValues = {}

)

startEngine()

void conscience_core::lidar::CscLidarEngine::startEngine ( )

virtual

Reimplemented in conscience_core::lidar::CscLidar3DEngineSimulated, conscience_core::lidar::CscLidarEngineRplidar, and conscience_core::lidar::CscLidar2DEngineSimulated.

stopEngine()

void conscience_core::lidar::CscLidarEngine::stopEngine ( )

virtual

Reimplemented in conscience_core::lidar::CscLidar3DEngineSimulated, conscience_core::lidar::CscLidarEngineRplidar, and conscience_core::lidar::CscLidar2DEngineSimulated.

stopLidarEngine()

void conscience_core::lidar::CscLidarEngine::stopLidarEngine

(

)

toWorldPoints()

vector< CscPoint3d * > conscience_core::lidar::CscLidarEngine::toWorldPoints ( const map< double, double > &  lidarValues, const CscQuaternion &  entityOrientation, const CscPoint3d &  entityPosition  )

static

Converts given lidar scan values to world coordinates

Parameters

lidarValues	lidar values to be converted
entityOrientation	entity orientation from core (without correction)
entityPosition	entity position from core

Returns

world coordinates

Member Data Documentation

lidarValuesMutex

mutex conscience_core::lidar::CscLidarEngine::lidarValuesMutex

protected

onActivated

optional<function<void()> > conscience_core::lidar::CscLidarEngine::onActivated = {}

protected

onNewValues

optional<function<void(const LidarValuesSnapshot &)> > conscience_core::lidar::CscLidarEngine::onNewValues = {}

protected

values

LidarValues conscience_core::lidar::CscLidarEngine::values

protected

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The documentation for this class was generated from the following files:

• Lidar/CscLidarEngine.h
• Lidar/CscLidarEngine.cpp