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Flatland
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#include <laser.h>
Public Member Functions | |
| float | ReportFixture (b2Fixture *fixture, const b2Vec2 &point, const b2Vec2 &normal, float fraction) override |
| Box2D raytrace call back method required for implementing the b2RayCastCallback abstract class. More... | |
| void | OnInitialize (const YAML::Node &config) override |
| Initialization for the plugin. More... | |
| void | BeforePhysicsStep (const Timekeeper &timekeeper) override |
| Called when just before physics update. More... | |
| void | ComputeLaserRanges () |
| Method that contains all of the laser range calculations. | |
| void | ParseParameters (const YAML::Node &config) |
| helper function to extract the paramters from the YAML Node More... | |
 Public Member Functions inherited from flatland_server::ModelPlugin | |
| Model * | GetModel () |
| Get model. | |
| void | Initialize (const std::string &type, const std::string &name, Model *model, const YAML::Node &config) |
| The method to initialize the ModelPlugin, required since Pluginlib require the class to have a default constructor. More... | |
| bool | FilterContact (b2Contact *contact, Entity *&entity, b2Fixture *&this_fixture, b2Fixture *&other_fixture) |
| Helper function check if this model is part of the contact, and extracts all the useful information. More... | |
| bool | FilterContact (b2Contact *contact) |
| Helper function check if this model is part of the contact. More... | |
| Public Member Functions inherited from flatland_server::FlatlandPlugin | |
| const PluginType | Type () |
| const std::string & | GetName () const |
| Get plugin name. | |
| const std::string & | GetType () const |
| Get type of plugin. | |
| virtual void | AfterPhysicsStep (const Timekeeper &timekeeper) |
| This method is called after the Box2D physics step. More... | |
| virtual void | BeginContact (b2Contact *contact) |
| A method that is called for all Box2D begin contacts. More... | |
| virtual void | EndContact (b2Contact *contact) |
| A method that is called for all Box2D end contacts. More... | |
| virtual void | PreSolve (b2Contact *contact, const b2Manifold *oldManifold) |
| A method that is called for Box2D presolve. More... | |
| virtual void | PostSolve (b2Contact *contact, const b2ContactImpulse *impulse) |
| A method that is called for Box2D postsolve. More... | |
| virtual | ~FlatlandPlugin ()=default |
| Flatland plugin destructor. | |
Public Attributes | |
| std::string | topic_ |
| topic name to publish the laser scan | |
| Body * | body_ |
| body the laser frame attaches to | |
| Pose | origin_ |
| laser frame w.r.t the body | |
| double | range_ |
| laser max range | |
| double | noise_std_dev_ |
| noise std deviation | |
| double | max_angle_ |
| double | min_angle_ |
| < laser max angle More... | |
| double | increment_ |
| laser angle increment | |
| double | update_rate_ |
| the rate laser scan will be published | |
| std::string | frame_id_ |
| laser frame id name | |
| bool | broadcast_tf_ |
| whether to broadcast laser origin w.r.t body | |
| uint16_t | layers_bits_ |
| for setting the layers where laser will function | |
| uint16_t | reflectance_layers_bits_ |
| std::default_random_engine | rng_ |
| random generator | |
| std::normal_distribution< double > | noise_gen_ |
| gaussian noise generator | |
| Eigen::Matrix3f | m_body_to_laser_ |
| tf from body to laser | |
| Eigen::Matrix3f | m_world_to_body_ |
| tf from world to body | |
| Eigen::Matrix3f | m_world_to_laser_ |
| tf from world to laser | |
| Eigen::MatrixXf | m_laser_points_ |
| laser points in the laser' frame | |
| Eigen::MatrixXf | m_world_laser_points_ |
| Eigen::Vector3f | v_zero_point_ |
| laser point in the world frame More... | |
| Eigen::Vector3f | v_world_laser_origin_ |
| (0,0) in the laser frame | |
| sensor_msgs::LaserScan | laser_scan_ |
| for publishing laser scan | |
| bool | did_hit_ |
| Box2D ray trace checking if ray hits anything. | |
| float | fraction_ |
| Box2D ray trace fraction. | |
| float | intensity_ |
| Intensity of raytrace collision. | |
| ros::Publisher | scan_publisher_ |
| ros laser topic publisher | |
| tf::TransformBroadcaster | tf_broadcaster_ |
| broadcast laser frame | |
| geometry_msgs::TransformStamped | laser_tf_ |
| tf from body to laser frame | |
| UpdateTimer | update_timer_ |
| for controlling update rate | |
| Public Attributes inherited from flatland_server::ModelPlugin | |
| ros::NodeHandle | nh_ |
| ROS node handle. | |
| Public Attributes inherited from flatland_server::FlatlandPlugin | |
| std::string | type_ |
| type of the plugin | |
| std::string | name_ |
| name of the plugin | |
| ros::NodeHandle | nh_ |
| PluginType | plugin_type_ |
Additional Inherited Members | |
| Public Types inherited from flatland_server::FlatlandPlugin | |
| enum | PluginType { Invalid, Model, World } |
| Protected Member Functions inherited from flatland_server::ModelPlugin | |
| ModelPlugin ()=default | |
| Model plugin default constructor. | |
This class implements the model plugin class and provides laser data for the given configurations
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overridevirtual |
Called when just before physics update.
| [in] | timekeeper | Object managing the simulation time |
Reimplemented from flatland_server::FlatlandPlugin.
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overridevirtual |
Initialization for the plugin.
| [in] | config | Plugin YAML Node |
Implements flatland_server::FlatlandPlugin.
| void flatland_plugins::Laser::ParseParameters | ( | const YAML::Node & | config | ) |
helper function to extract the paramters from the YAML Node
| [in] | config | Plugin YAML Node |
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override |
Box2D raytrace call back method required for implementing the b2RayCastCallback abstract class.
| [in] | fixture | Fixture the ray hits |
| [in] | point | Point the ray hits the fixture |
| [in] | normal | Vector indicating the normal at the point hit |
| [in] | fraction | Fraction of ray length at hit point |
| double flatland_plugins::Laser::min_angle_ |
< laser max angle
laser min angle
| Eigen::Vector3f flatland_plugins::Laser::v_zero_point_ |
laser point in the world frame
point representing (0,0)
1.8.11
