conscience_core::lidar::LidarValuesSnapshot Class Reference

#include <CscLidarEngine.h>

Public Member Functions
std::vector< CscPoint3d >	getPointCloudWorldCoordinates (const CscPoint3d &entityPosition, const CscQuaternion &robotOrientation) const
	LidarValuesSnapshot ()=default
	LidarValuesSnapshot (CscPointCloud3d pointCloud, unsigned long long timestamp, std::optional< OdometryData > odometry)
void	getSliceAtY (std::vector< CscPoint3d > &out, double targetY, double tolerance) const
void	getSliceAtY (std::map< double, double > &out, double targetY, double tolerance) const
bool	is3d () const

Public Attributes
CscPointCloud3d	pointCloud
unsigned long long	timestamp = 0
optional< OdometryData >	odometry = {}

Constructor & Destructor Documentation

LidarValuesSnapshot() [1/2]

conscience_core::lidar::LidarValuesSnapshot::LidarValuesSnapshot ( )

default

LidarValuesSnapshot() [2/2]

conscience_core::lidar::LidarValuesSnapshot::LidarValuesSnapshot	(	CscPointCloud3d	pointCloud,
		unsigned long long	timestamp,
		std::optional< OdometryData >	odometry
	)

Member Function Documentation

getPointCloudWorldCoordinates()

vector< CscPoint3d > conscience_core::lidar::LidarValuesSnapshot::getPointCloudWorldCoordinates	(	const CscPoint3d &	entityPosition,
		const CscQuaternion &	robotOrientation
	)		const

Returns

point cloud computed for world coordinates based on given robot position/orientation

getSliceAtY() [1/2]

void conscience_core::lidar::LidarValuesSnapshot::getSliceAtY	(	std::map< double, double > &	out,
		double	targetY,
		double	tolerance
	)		const

getSliceAtY() [2/2]

void conscience_core::lidar::LidarValuesSnapshot::getSliceAtY	(	std::vector< CscPoint3d > &	out,
		double	targetY,
		double	tolerance
	)		const

is3d()

bool conscience_core::lidar::LidarValuesSnapshot::is3d

(

)

const

Returns

true if values are 3D or false if 2D. For now implementation is just a hacky verification that minY/maxY is very close

Member Data Documentation

odometry

optional<OdometryData> conscience_core::lidar::LidarValuesSnapshot::odometry = {}

Odometry delta with last frame

pointCloud

CscPointCloud3d conscience_core::lidar::LidarValuesSnapshot::pointCloud

timestamp

unsigned long long conscience_core::lidar::LidarValuesSnapshot::timestamp = 0

Last frame timestamp

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

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