simple_sensor_simulator::OccupancyGridSensorBase Class Reference

Base class of occupancy grid sensor simulator. More...

#include <occupancy_grid_sensor.hpp>

Inheritance diagram for simple_sensor_simulator::OccupancyGridSensorBase:

Public Member Functions
virtual	~OccupancyGridSensorBase ()=default
virtual void	update (const double current_simulation_time, const std::vector< traffic_simulator_msgs::EntityStatus > &, const rclcpp::Time &current_ros_time, const std::vector< std::string > &lidar_detected_entities)=0
	Update sensor status. More...
const std::vector< std::string >	getDetectedObjects (const std::vector< traffic_simulator_msgs::EntityStatus > &status, const std::vector< std::string > &lidar_detected_entities) const
	List all objects in range of sensor sight. More...
geometry_msgs::Pose	getSensorPose (const std::vector< traffic_simulator_msgs::EntityStatus > &) const
	Extract sensor pose from entity statuses. More...

Protected Member Functions
	OccupancyGridSensorBase (const double current_simulation_time, const simulation_api_schema::OccupancyGridSensorConfiguration &configuration)

Protected Attributes
double	previous_simulation_time_
simulation_api_schema::OccupancyGridSensorConfiguration	configuration_
std::vector< std::string >	detected_objects_

Detailed Description

Base class of occupancy grid sensor simulator.

Constructor & Destructor Documentation

OccupancyGridSensorBase()

simple_sensor_simulator::OccupancyGridSensorBase::OccupancyGridSensorBase ( const double  current_simulation_time, const simulation_api_schema::OccupancyGridSensorConfiguration &  configuration  )

inlineexplicitprotected

~OccupancyGridSensorBase()

virtual simple_sensor_simulator::OccupancyGridSensorBase::~OccupancyGridSensorBase ( )

virtualdefault

Member Function Documentation

getDetectedObjects()

const std::vector< std::string > simple_sensor_simulator::OccupancyGridSensorBase::getDetectedObjects	(	const std::vector< traffic_simulator_msgs::EntityStatus > &	status,
		const std::vector< std::string > &	lidar_detected_entities
	)		const

List all objects in range of sensor sight.

Warning

status must contain EGO object

Returns

names of objects in range of sensor sight

getSensorPose()

geometry_msgs::Pose simple_sensor_simulator::OccupancyGridSensorBase::getSensorPose

(

const std::vector< traffic_simulator_msgs::EntityStatus > &

status

)

const

Extract sensor pose from entity statuses.

Returns

sensor pose

Warning

status must contain EGO object

Exceptions

SimulationRuntimeError

if status does not contain EGO object

update()

virtual void simple_sensor_simulator::OccupancyGridSensorBase::update ( const double  current_simulation_time, const std::vector< traffic_simulator_msgs::EntityStatus > &  , const rclcpp::Time &  current_ros_time, const std::vector< std::string > &  lidar_detected_entities  )

pure virtual

Update sensor status.

Implemented in simple_sensor_simulator::OccupancyGridSensor< T >.

Member Data Documentation

configuration_

simulation_api_schema::OccupancyGridSensorConfiguration simple_sensor_simulator::OccupancyGridSensorBase::configuration_

protected

detected_objects_

std::vector<std::string> simple_sensor_simulator::OccupancyGridSensorBase::detected_objects_

protected

previous_simulation_time_

double simple_sensor_simulator::OccupancyGridSensorBase::previous_simulation_time_

protected

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

• simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/occupancy_grid/occupancy_grid_sensor.hpp
• simulation/simple_sensor_simulator/src/sensor_simulation/occupancy_grid/occupancy_grid_sensor.cpp