raisim::SpinningLidar::SpinningLidarProperties

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

Configuration of a SpinningLidar.

Public attributes

name

std::string name

Sensor name (without the sensor set prefix).

full_name

std::string full_name

Sensor name including the sensor set prefix.

yawSamples

int yawSamples

Number of samples per revolution in yaw (yaw spacing is 2*pi / yawSamples).

pitchSamples

int pitchSamples

Number of samples in pitch, evenly spaced from pitchMinAngle to pitchMaxAngle inclusive.

pitchMinAngle

double pitchMinAngle

Minimum pitch angle in radians.

pitchMaxAngle

double pitchMaxAngle

Maximum pitch angle in radians.

rangeMin

double rangeMin

Minimum range in meters. Rays start this far from the sensor origin.

rangeMax

double rangeMax

Maximum range in meters.

spinningRate

double spinningRate

Spinning rate in revolutions per second.

spinDirection

int spinDirection

Spin direction, 1 or -1: 1 increases yaw (counter-clockwise about the sensor +z axis), -1 decreases it.

rangeBias

double rangeBias

Constant range bias in meters.

rangeNoiseStd

double rangeNoiseStd

Standard deviation of independent Gaussian range noise in meters.

angularNoiseStd

double angularNoiseStd

Standard deviation of independent Gaussian yaw and pitch errors, in radians.

resolution

double resolution

Range quantization step in meters; zero disables quantization.

dropoutProbability

double dropoutProbability

Probability of discarding a hit. Misses and discarded hits are omitted from the scan.

seed

uint32_t seed

Zero derives a stream from sensor identity and owner id; nonzero selects an explicit stream. The World environment seed is mixed into both.