ROS2::LidarTemplateUtils Namespace Reference

Utility class for Lidar model computations. More...

Functions
LidarTemplate	GetTemplate (LidarTemplate::LidarModel model)
AZStd::vector< LidarTemplate::LidarModel >	Get2DModels ()
AZStd::vector< LidarTemplate::LidarModel >	Get3DModels ()
size_t	TotalPointCount (const LidarTemplate &t)
AZStd::vector< AZ::Vector3 >	PopulateRayRotations (const LidarTemplate &lidarTemplate)
AZStd::vector< AZ::Vector3 >	RotationsToDirections (const AZStd::vector< AZ::Quaternion > &rotations, const AZ::Transform &rootTransform)

Detailed Description

Utility class for Lidar model computations.

Function Documentation

Get2DModels()

AZStd::vector<LidarTemplate::LidarModel> ROS2::LidarTemplateUtils::Get2DModels

(

)

Get all 2D lidar models.

Returns

2D lidar models.

Get3DModels()

AZStd::vector<LidarTemplate::LidarModel> ROS2::LidarTemplateUtils::Get3DModels

(

)

Get all 3D lidar models.

Returns

3D lidar models.

GetTemplate()

LidarTemplate ROS2::LidarTemplateUtils::GetTemplate

(

LidarTemplate::LidarModel

model

)

Get the lidar template for a model.

Parameters

model

lidar model.

Returns

the matching template which describes parameters for the model.

PopulateRayRotations()

AZStd::vector<AZ::Vector3> ROS2::LidarTemplateUtils::PopulateRayRotations

(

const LidarTemplate &

lidarTemplate

)

Compute ray Rotation angles based on lidar model.

Parameters

lidarTemplate

Lidar model to use. Note that different models will produce different number of rays.

Returns

Ray rotations angles as Euler angles in radians.

RotationsToDirections()

AZStd::vector<AZ::Vector3> ROS2::LidarTemplateUtils::RotationsToDirections	(	const AZStd::vector< AZ::Quaternion > &	rotations,
		const AZ::Transform &	rootTransform
	)

Compute ray directions from rotations.

Parameters

rotations	Rotations as quaternions to compute directions from.
rootTransform	root transformation of Lidar sensor.

Returns

Ray directions constructed by transforming an X axis unit vector by the provided rotations.

TotalPointCount()

size_t ROS2::LidarTemplateUtils::TotalPointCount

(

const LidarTemplate &

t

)

Get total point count for a given template.

Parameters

t	lidar template.

Returns

total count of points that the lidar specified by the template would produce on each scan.