simple_sensor_simulator::Raycaster Class Reference

#include <raycaster.hpp>

Public Member Functions
	Raycaster ()
	Raycaster (std::string embree_config)
	~Raycaster ()
template<typename T , typename... Ts>
void	addPrimitive (std::string name, Ts &&... xs)
const sensor_msgs::msg::PointCloud2	raycast (const std::string &frame_id, const rclcpp::Time &stamp, const geometry_msgs::msg::Pose &origin, double max_distance=300, double min_distance=0)
const std::vector< std::string > &	getDetectedObject () const
void	setDirection (const simulation_api_schema::LidarConfiguration &configuration, double horizontal_angle_start=0, double horizontal_angle_end=2 *M_PI)

Constructor & Destructor Documentation

Raycaster() [1/2]

simple_sensor_simulator::Raycaster::Raycaster

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Raycaster() [2/2]

simple_sensor_simulator::Raycaster::Raycaster ( std::string  embree_config )

explicit

~Raycaster()

simple_sensor_simulator::Raycaster::~Raycaster

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Member Function Documentation

addPrimitive()

template<typename T , typename... Ts>

void simple_sensor_simulator::Raycaster::addPrimitive ( std::string  name, Ts &&...  xs  )

inline

getDetectedObject()

const std::vector< std::string > & simple_sensor_simulator::Raycaster::getDetectedObject

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const

raycast()

const sensor_msgs::msg::PointCloud2 simple_sensor_simulator::Raycaster::raycast	(	const std::string &	frame_id,
		const rclcpp::Time &	stamp,
		const geometry_msgs::msg::Pose &	origin,
		double	max_distance = 300,
		double	min_distance = 0
	)

setDirection()

void simple_sensor_simulator::Raycaster::setDirection	(	const simulation_api_schema::LidarConfiguration &	configuration,
		double	horizontal_angle_start = 0,
		double	horizontal_angle_end = 2 * M_PI
	)

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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/lidar/raycaster.hpp
• simulation/simple_sensor_simulator/src/sensor_simulation/lidar/raycaster.cpp