#include <CscSlamEngine.h>

Classes
struct	MapToImageParams

struct	PhantomCluster

struct	PhantomClusterTracked

struct	Slam3dParams

Public Member Functions
	CscSlamEngine (const string &entitySerialNumber, bool isSimulatedEntity, CscEntityPositionManager positionManager, CscLidarEngine lidarEngine)

	~CscSlamEngine ()

void	stop ()

void	start (CscPoint3dOriented *initialPosition=nullptr)

const CscPoint3d &	getEntityStartPosition () const

const CscQuaternion &	getEntityStartOrientation () const

fs::path	saveCartography ()

bool	loadCartography (const fs::path &cartographyDir)

bool	loadLatestCartography ()

bool	hasLoadedCartography ()

bool	isStarted () const

bool	isStartedAndReady () const

void	consumeLidarValues ()

void	forceLocalisationPosition (double xInMeters, double zInMeters, double headingInRad)

void	saveMrpt2dMapToPng (const string &filename, const MapToImageParams &params)

CscPoint3d *	transformToWorld3dPosition (const TPoint2D &pointSlam2d) const

vector< CscPoint3d * >	getMapAsWorldPoints (double threshold=defaultCellOccupiedThreshold) const

constexpr CscSlamCellOccupancyStatus	getCellStatus (float cellValue, double occupiedThreshold=defaultCellOccupiedThreshold)

void	clearCartography ()

mrpt::math::TPose2D	getEntityPose2dMrpt () const

CscPoint3dOriented *	getEntityPose3d () const

ptr< CObservation2DRangeScan >	getLidarScan () const

ptr< COccupancyGridMap2D >	getSLAMMap () const

bool	is3dSlamInitialized () const

uint64_t	add3dMapVoxelChangesListener (function< void(const CscSlam3dMapVoxelChanges &changes)> callback, CscSlam3dMapVoxelChanges *changes=nullptr)

void	remove3dMapVoxelChangesListener (uint64_t listenerId)

vector< CscSlam3dMapVoxelKey >	get3dMapVoxelsCopy () const

Static Public Attributes
static constexpr double	defaultCellOccupiedThreshold = 0.14

Constructor & Destructor Documentation

◆ CscSlamEngine()

conscience_core::lidar::CscSlamEngine::CscSlamEngine	(	const string &	entitySerialNumber,
		bool	isSimulatedEntity,
		CscEntityPositionManager *	positionManager,
		CscLidarEngine *	lidarEngine
	)

◆ ~CscSlamEngine()

conscience_core::lidar::CscSlamEngine::~CscSlamEngine ( )

Member Function Documentation

◆ add3dMapVoxelChangesListener()

uint64_t conscience_core::lidar::CscSlamEngine::add3dMapVoxelChangesListener	(	function< void(const CscSlam3dMapVoxelChanges &changes)>	callback,
		CscSlam3dMapVoxelChanges *	changes = `nullptr`
	)

Adds a listener to be notified on SLAM map changes.

Parameters

changes output parameter - will be set to first (hence full) rebuild changes, if not null. Otherwise ignored. It is the start point for future diffs

Returns: listener id which can be latter used to remove listener

◆ clearCartography()

void conscience_core::lidar::CscSlamEngine::clearCartography ( )

◆ consumeLidarValues()

void conscience_core::lidar::CscSlamEngine::consumeLidarValues ( )

◆ forceLocalisationPosition()

void conscience_core::lidar::CscSlamEngine::forceLocalisationPosition	(	double	xInMeters,
		double	zInMeters,
		double	headingInRad
	)

◆ get3dMapVoxelsCopy()

vector< CscSlam3dMapVoxelKey > conscience_core::lidar::CscSlamEngine::get3dMapVoxelsCopy ( ) const

Returns: return voxels of current SLAM 3D map. Grid precision is CscSlam3dMapVoxelGrid::voxelSizeMeters

See also: CscSlam3dMapVoxelKey; CscSlam3dMapVoxelGrid::voxelSizeMeters

◆ getCellStatus()

constexpr CscSlamCellOccupancyStatus conscience_core::lidar::CscSlamEngine::getCellStatus	(	float	cellValue,
		double	occupiedThreshold = `defaultCellOccupiedThreshold`
	)

inlineconstexpr

◆ getEntityPose2dMrpt()

TPose2D conscience_core::lidar::CscSlamEngine::getEntityPose2dMrpt ( ) const

returns internal mrpt pose - DO NOT USE except for string optimization purpose

See also: CscSlamEngine::getEntityPose3d()

◆ getEntityPose3d()

CscPoint3dOriented * conscience_core::lidar::CscSlamEngine::getEntityPose3d ( ) const

Return 3D pose, in Conscience world ref frame

Returns: entity pose in 3D, WARNING : only yaw (Y axis) is filled in rotation fields in 2D

◆ getEntityStartOrientation()

const CscQuaternion & conscience_core::lidar::CscSlamEngine::getEntityStartOrientation ( ) const

Orientation when cartography started. It means this that this should be invert applied to the cartography points to convert to world positions.

Warning: this rotation already removes "base" rotation on all entities, so this rotation is compared to "still / looking forward" entity. Please see extractNavigationQuaternionFromEntityQuaternion

See also: extractNavigationQuaternionFromEntityQuaternion(..)

Returns: entity orientation when SLAM cartography started

◆ getEntityStartPosition()

const CscPoint3d & conscience_core::lidar::CscSlamEngine::getEntityStartPosition ( ) const

Position when cartography started. It means this is the offset for the cartography points to convert to world positions.

Returns: entity position when SLAM cartography started

◆ getLidarScan()

ptr< CObservation2DRangeScan > conscience_core::lidar::CscSlamEngine::getLidarScan ( ) const

returns internal mrpt last lidar scan - DO NOT USE except for string optimization purpose

◆ getMapAsWorldPoints()

vector< CscPoint3d * > conscience_core::lidar::CscSlamEngine::getMapAsWorldPoints ( double threshold = defaultCellOccupiedThreshold ) const

◆ getSLAMMap()

ptr< COccupancyGridMap2D > conscience_core::lidar::CscSlamEngine::getSLAMMap ( ) const

returns internal mrpt map - DO NOT USE except for string optimization purpose

See also: CscSlamEngine::getMapAsWorldPoints()

◆ hasLoadedCartography()

bool conscience_core::lidar::CscSlamEngine::hasLoadedCartography ( )

◆ is3dSlamInitialized()

bool conscience_core::lidar::CscSlamEngine::is3dSlamInitialized ( ) const

◆ isStarted()

bool conscience_core::lidar::CscSlamEngine::isStarted ( ) const

◆ isStartedAndReady()

bool conscience_core::lidar::CscSlamEngine::isStartedAndReady ( ) const

◆ loadCartography()

bool conscience_core::lidar::CscSlamEngine::loadCartography ( const fs::path & cartographyDir )

◆ loadLatestCartography()

bool conscience_core::lidar::CscSlamEngine::loadLatestCartography ( )

◆ remove3dMapVoxelChangesListener()

void conscience_core::lidar::CscSlamEngine::remove3dMapVoxelChangesListener ( uint64_t listenerId )

◆ saveCartography()

fs::path conscience_core::lidar::CscSlamEngine::saveCartography ( )

saves SLAM cartography in a dedicated and optimized format to a new subdirectory of CARTOGRAPHY_STORAGE_DIRECTORY

Returns: the path to the directory containing the cartography

◆ saveMrpt2dMapToPng()

void conscience_core::lidar::CscSlamEngine::saveMrpt2dMapToPng	(	const string &	filename,
		const MapToImageParams &	params
	)

◆ start()

void conscience_core::lidar::CscSlamEngine::start ( CscPoint3dOriented * initialPosition = nullptr )

◆ stop()

void conscience_core::lidar::CscSlamEngine::stop ( )

◆ transformToWorld3dPosition()

CscPoint3d * conscience_core::lidar::CscSlamEngine::transformToWorld3dPosition ( const TPoint2D & pointSlam2d ) const

Member Data Documentation

◆ defaultCellOccupiedThreshold

constexpr double conscience_core::lidar::CscSlamEngine::defaultCellOccupiedThreshold = 0.14

staticconstexpr

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

Lidar/CscSlamEngine.h
Lidar/CscSlamEngine.cpp

Conscience Core

Classes

Public Member Functions

Static Public Attributes