raisim::SpinningLidar

class · #include <raisim/sensors/SpinningLidar.hpp>

Inherits: raisim::Sensor

Spinning (rotating-head) lidar simulated by CPU ray casting.

The head spins about the sensor's +z axis. A ray with yaw y and pitch p has the sensor-frame direction (cos p cos y, cos p sin y, sin p): yaw 0 is +x, positive pitch tilts toward +z. Each update casts only the yaw columns that the head swept since the previous update (spinningRate * elapsed time), so one scan generally covers a partial revolution.

Nested classes

• struct SpinningLidarProperties — Configuration of a SpinningLidar.
• struct Sweep — Yaw columns swept by one update.

Constructors & destructor

SpinningLidar

SpinningLidar(
    const SpinningLidarProperties &prop,
    class ArticulatedSystem *as,
    const Vec<3> &pos,
    const Mat<3, 3> &rot)

Create a lidar. The measurement source is RAISIM.

Parameters

Parameter	Description
prop (in)	Lidar properties (validated; invalid values cause a fatal error).
as (in)	Owning articulated system.
pos (in)	Sensor position relative to the body (link) it is defined on.
rot (in)	Sensor orientation relative to the body (link) it is defined on.

Public member functions

serializeProp

server::BoundedWriter serializeProp(server::BoundedWriter data) const final

Used by the server. Do not use it if you don't know what it does. It serializes the sensor properties

Parameters

Parameter	Description
data (in)	where the property is written; throws server::SerializationError if it does not fit

Returns where the next data should be written

getProperties

const SpinningLidarProperties &getProperties() const

Returns The lidar configuration properties.

setProperties

void setProperties(const SpinningLidarProperties &prop)

Replace the lidar configuration, clear the scan and reset the scan timestamp to 0.

Parameters

Parameter	Description
prop (in)	New properties. name and full_name must match the current ones (fatal error otherwise).

getScan

const std::vector<raisim::Vec<3>, AlignedAllocator<raisim::Vec<3>, 32>> &getScan() const

Returns Hit points of the latest scan in the sensor frame (relative to the sensor origin). Rays without a hit within the range are omitted, so the size varies. Points are ordered by yaw column (in sweep order), then by pitch from pitchMinAngle to pitchMaxAngle.

setScan

void setScan(const std::vector<raisim::Vec<3>> &scan)

Replace the scan points (useful for real hardware or offline playback).

Parameters

Parameter	Description
scan (in)	Scan points in the sensor frame (same convention as getScan()).

void setScan(const std::vector<raisim::Vec<3>, AlignedAllocator<raisim::Vec<3>, 32>> &scan)

Replace the scan points (useful for real hardware or offline playback).

Parameters

Parameter	Description
scan (in)	Scan points in the sensor frame (same convention as getScan()).

applyNoise

void applyNoise()

Apply one scan's range/angle noise, quantization and dropout in place. Called by CPU and Rayrai GPU captures. setScan() itself preserves manual/hardware data without adding noise. Draws follow hit order; different CPU/GPU hit sets can reassign later samples.

resetNoise

void resetNoise() noexcept

Restart the stream from the sensor seed, identity, owner id and World environment seed.

getTimeStamp

double getTimeStamp() const

Returns Timestamp of the latest scan in seconds (world time of the last update).

setTimeStamp

void setTimeStamp(double timeStamp)

Set the timestamp for the latest scan.

Parameters

Parameter	Description
timeStamp (in)	Timestamp in seconds.

getCurrentYaw

double getCurrentYaw() const

Returns Current yaw angle of the spinning head in radians, in [0, 2*pi).

advanceSweep

Sweep advanceSweep(double worldTime)

Advance the spinning head to worldTime, as update() does before casting. Sets the current yaw, the scan timestamp and the update timestamp. Use it to cast the swept rays with another ray tracer (for example rayrai's GPU LiDAR) and store the hits with setScan(). The first update after the sensor is created or loaded, or after the world time went back before the last update, sweeps the time since world time 0, at most one update interval.

Parameters

Parameter	Description
worldTime (in)	world time of this update (s)

Returns the yaw columns swept since the last update (count 0 if no column was crossed)

update

void update(class World &world) final

update lidar measurement: refreshes the pose, advances the head yaw by the time elapsed since the last update (advanceSweep()) and casts the swept rays. The body the sensor is attached to is excluded from the ray test.

Parameters

Parameter	Description
world (in)	the world that the sensor is in

Static member functions

getType static

static Type getType()

Returns Sensor::Type::SPINNING_LIDAR.

Inherited members

From raisim::Sensor: getArticulatedSystem, getFrameId, getFrameOrientation, getFramePosition, getFullName, getMeasurementSource, getName, getOrientation, getOriInSensorFrame, getPosInSensorFrame, getPosition, getSensorSetModel, getSerialNumber, getUpdateRate, getUpdateTimeStamp, isUpdateDue, lock, lockMutex, MeasurementSource, serializeMeasurements, setAttachmentFrame, setMeasurementSource, setSerialNumber, setUpdateRate, setUpdateTimeStamp, try_lock, Type, unlock, unlockMutex, updatePose