URRBaseLidarComponent Class Reference

Base ROS 2 LIDAR Component class. Other lidar class should inherit from this class. More...

#include <RRBaseLidarComponent.h>

Inheritance diagram for URRBaseLidarComponent:

Collaboration diagram for URRBaseLidarComponent:

Public Member Functions
	URRBaseLidarComponent ()
virtual bool	Visible (AActor *TargetActor)
	Return true if laser hits the target actor. This method should be overwritten by child class. More...
void	GetData (TArray< FHitResult > &OutHits, float &OutTime) const
	Get RecordedHits and TimeOfLastScan. More...
FLinearColor	InterpColorFromIntensity (const float InIntensity)
Public Member Functions inherited from URRROS2BaseSensorComponent
	URRROS2BaseSensorComponent ()
	Construct a new URRROS2BaseSensorComponent object. More...
virtual void	InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName=TEXT(""), const FString &InTopicName=TEXT(""), const UROS2QoS InQoS=UROS2QoS::SensorData)
	Create and initialize publisher and start sensor update by calling. More...
virtual void	CreatePublisher (const FString &InPublisherName=TEXT(""))
	Create a Publisher with SensorPublisherClass. More...
virtual void	PreInitializePublisher (UROS2NodeComponent *InROS2Node, const FString &InTopicName=TEXT(""))
	Set publish frequency, topic name and FrameId. More...
virtual void	InitializePublisher (UROS2NodeComponent *InROS2Node, const UROS2QoS InQoS=UROS2QoS::SensorData)
	Initialize Sensorpublisher by using UROS2Publisher's methods. More...
virtual void	Run ()
	Start timer to update and publish sensor data by using SetTimer. More...
virtual void	Stop ()
	Stop timer to update and publish sensor data by using ClearTimer. More...
virtual void	SensorUpdate ()
	Update Sensor data. This method should be overwritten by child class. More...
virtual void	SetROS2Msg (UROS2GenericMsg *InMessage)
	Set sensor data to ROS 2 msg. This method should be overwritten by child class. More...

Public Attributes
int32	NSamplesPerScan = 360
float	StartAngle = 0.f
	[degrees] scan goes from StartAngle to StartAngle+FOVHorizontal More...
float	FOVHorizontal = 360.f
	[degrees] scan goes from StartAngle to StartAngle+FOVHorizontal More...
float	MinRange = 12.f
	[m] More...
float	MaxRange = 350.f
	[m] More...
TEnumAsByte< ECollisionChannel >	TraceCollisionChannel = ECC_Visibility
bool	bIgnoreSelf = false
FLinearColor	ColorMiss = FColor(255, 127, 0, 255)
FLinearColor	ColorMin = FColor(255, 0, 0, 255)
FLinearColor	ColorMid = FColor(255, 0, 0, 255)
FColor	ColorMax = FColor(255, 255, 255, 255)
float	TimeOfLastScan = 0.f
float	DHAngle = 0.f
TObjectPtr< URRGaussianNoise >	PositionNoise
TObjectPtr< URRGaussianNoise >	IntensityNoise
float	PositionalNoiseMean = 0.f
float	PositionalNoiseVariance = 1.f
float	IntensityNoiseMean = 0.f
float	IntensityNoiseVariance = .01f
uint8	BWithNoise: 1
TArray< FHitResult >	RecordedHits
TArray< FTraceHandle >	TraceHandles
bool	bShowLidarRays = true
bool	ShowLidarRayMisses = false
uint8	DrawPointDepthIntensity = 0
	DepthIntesity of DrawPoint. More...
float	IntensityNonReflective = 1000.f
float	IntensityReflective = 6000.f
float	IntensityMin = 0.f
float	IntensityMax = 10000.f
Public Attributes inherited from URRROS2BaseSensorComponent
TSubclassOf< UROS2Publisher >	SensorPublisherClass = URRROS2BaseSensorPublisher::StaticClass()
URRROS2BaseSensorPublisher *	SensorPublisher = nullptr
TSubclassOf< UROS2GenericMsg >	MsgClass = UROS2GenericMsg::StaticClass()
FString	TopicName = TEXT("sensor_data")
FString	FrameId = TEXT("sensor_frame")
int32	PublicationFrequencyHz = 30
bool	bAppendNodeNamespace = true
	Append namespace to FrameId or not. More...
bool	bIsValid = true

Protected Member Functions
virtual void	BeginPlay () override
FLinearColor	InterpolateColor (float InX)

Static Protected Member Functions
static float	GetIntensityFromDist (float InBaseIntensity, float InDistance)

Protected Attributes
float	Dt = 0.f
Protected Attributes inherited from URRROS2BaseSensorComponent
FTimerHandle	TimerHandle

Detailed Description

Base ROS 2 LIDAR Component class. Other lidar class should inherit from this class.

UCLASS(ClassGroup = (Custom), Blueprintable, meta = (BlueprintSpawnableComponent))

Constructor & Destructor Documentation

URRBaseLidarComponent()

URRBaseLidarComponent::URRBaseLidarComponent

(

)

Member Function Documentation

BeginPlay()

virtual void URRBaseLidarComponent::BeginPlay ( )

overrideprotectedvirtual

GetData()

void URRBaseLidarComponent::GetData	(	TArray< FHitResult > &	OutHits,
		float &	OutTime
	)		const

Get RecordedHits and TimeOfLastScan.

adding the rest of the necessary information might be tedious

eventually split into multiple getters

Parameters

OutHits
OutTime

UFUNCTION(BlueprintCallable)

GetIntensityFromDist()

static float URRBaseLidarComponent::GetIntensityFromDist ( float  InBaseIntensity, float  InDistance  )

staticprotected

InterpColorFromIntensity()

FLinearColor URRBaseLidarComponent::InterpColorFromIntensity

(

const float

InIntensity

)

InterpolateColor()

FLinearColor URRBaseLidarComponent::InterpolateColor ( float  InX )

protected

Visible()

virtual bool URRBaseLidarComponent::Visible ( AActor *  TargetActor )

inlinevirtual

Return true if laser hits the target actor. This method should be overwritten by child class.

Parameters

TargetActor

Returns

true

false

UFUNCTION(BlueprintCallable)

Reimplemented in URR2DLidarComponent, and URR3DLidarComponent.

Member Data Documentation

bIgnoreSelf

bool URRBaseLidarComponent::bIgnoreSelf = false

UPROPERTY(EditAnywhere, BlueprintReadWrite)

bShowLidarRays

bool URRBaseLidarComponent::bShowLidarRays = true

UPROPERTY(EditAnywhere, BlueprintReadWrite)

BWithNoise

uint8 URRBaseLidarComponent::BWithNoise

UPROPERTY(EditAnywhere, Category = "Noise")

ColorMax

FColor URRBaseLidarComponent::ColorMax = FColor(255, 255, 255, 255)

UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Intensity")

ColorMid

FLinearColor URRBaseLidarComponent::ColorMid = FColor(255, 0, 0, 255)

UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Intensity")

ColorMin

FLinearColor URRBaseLidarComponent::ColorMin = FColor(255, 0, 0, 255)

UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Intensity")

ColorMiss

FLinearColor URRBaseLidarComponent::ColorMiss = FColor(255, 127, 0, 255)

UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Intensity")

DHAngle

float URRBaseLidarComponent::DHAngle = 0.f

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

DrawPointDepthIntensity

uint8 URRBaseLidarComponent::DrawPointDepthIntensity = 0

DepthIntesity of DrawPoint.

See also

https://docs.unrealengine.com/4.27/en-US/API/Runtime/Engine/Components/ULineBatchComponent/DrawPoint/

UPROPERTY(EditAnywhere, BlueprintReadWrite)

Dt

float URRBaseLidarComponent::Dt = 0.f

protected

UPROPERTY()

FOVHorizontal

float URRBaseLidarComponent::FOVHorizontal = 360.f

[degrees] scan goes from StartAngle to StartAngle+FOVHorizontal

UPROPERTY(EditAnywhere, BlueprintReadWrite)

IntensityMax

float URRBaseLidarComponent::IntensityMax = 10000.f

UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Intensity")

IntensityMin

float URRBaseLidarComponent::IntensityMin = 0.f

UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Intensity")

IntensityNoise

TObjectPtr<URRGaussianNoise> URRBaseLidarComponent::IntensityNoise

UPROPERTY(EditAnywhere, Category = "Noise")

IntensityNoiseMean

float URRBaseLidarComponent::IntensityNoiseMean = 0.f

UPROPERTY(EditAnywhere, Category = "Noise")

IntensityNoiseVariance

float URRBaseLidarComponent::IntensityNoiseVariance = .01f

UPROPERTY(EditAnywhere, Category = "Noise")

IntensityNonReflective

float URRBaseLidarComponent::IntensityNonReflective = 1000.f

UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Intensity")

IntensityReflective

float URRBaseLidarComponent::IntensityReflective = 6000.f

UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Intensity")

MaxRange

float URRBaseLidarComponent::MaxRange = 350.f

[m]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

MinRange

float URRBaseLidarComponent::MinRange = 12.f

[m]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

NSamplesPerScan

int32 URRBaseLidarComponent::NSamplesPerScan = 360

UPROPERTY(EditAnywhere, BlueprintReadWrite)

PositionalNoiseMean

float URRBaseLidarComponent::PositionalNoiseMean = 0.f

UPROPERTY(EditAnywhere, Category = "Noise")

PositionalNoiseVariance

float URRBaseLidarComponent::PositionalNoiseVariance = 1.f

UPROPERTY(EditAnywhere, Category = "Noise")

PositionNoise

TObjectPtr<URRGaussianNoise> URRBaseLidarComponent::PositionNoise

UPROPERTY(EditAnywhere, Category = "Noise")

RecordedHits

TArray<FHitResult> URRBaseLidarComponent::RecordedHits

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

ShowLidarRayMisses

bool URRBaseLidarComponent::ShowLidarRayMisses = false

UPROPERTY(EditAnywhere, BlueprintReadWrite)

StartAngle

float URRBaseLidarComponent::StartAngle = 0.f

[degrees] scan goes from StartAngle to StartAngle+FOVHorizontal

UPROPERTY(EditAnywhere, BlueprintReadWrite)

TimeOfLastScan

float URRBaseLidarComponent::TimeOfLastScan = 0.f

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

TraceCollisionChannel

TEnumAsByte<ECollisionChannel> URRBaseLidarComponent::TraceCollisionChannel = ECC_Visibility

UPROPERTY(EditAnywhere, BlueprintReadWrite)

TraceHandles

TArray<FTraceHandle> URRBaseLidarComponent::TraceHandles

---

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

• /home/docs/checkouts/readthedocs.org/user_builds/rapyutasim/checkouts/latest/Source/RapyutaSimulationPlugins/Public/Sensors/RRBaseLidarComponent.h