ROS2::LidarTemplate Struct Reference

#include <LidarTemplate.h>

Classes
struct	NoiseParameters

Public Types
enum class	LidarModel {   Custom3DLidar , Ouster_OS0_64 , Ouster_OS1_64 , Ouster_OS2_64 ,   Velodyne_Puck , Velodyne_HDL_32E , Custom2DLidar , Slamtec_RPLIDAR_S1 }

Public Member Functions
	AZ_TYPE_INFO (LidarTemplate, "{9E9EF583-733D-4450-BBA0-ADD4D1BEFBF2}")

Static Public Member Functions
static void	Reflect (AZ::ReflectContext *context)

Public Attributes
LidarModel	m_model
AZStd::string	m_name
	Name of lidar template.
bool	m_is2D = false
float	m_minHAngle = 0.0f
	Minimum horizontal angle (altitude of the ray), in degrees.
float	m_maxHAngle = 0.0f
	Maximum horizontal angle (altitude of the ray), in degrees.
float	m_minVAngle = 0.0f
	Minimum vertical angle (azimuth of the ray), in degrees.
float	m_maxVAngle = 0.0f
	Maximum vertical angle (azimuth of the ray), in degrees.
unsigned int	m_layers = 0
	Number of lasers layers (resolution in horizontal direction)
unsigned int	m_numberOfIncrements = 0
	Resolution in vertical direction.
float	m_minRange = 0.0f
	Minimum range of simulated LiDAR.
float	m_maxRange = 0.0f
	Maximum range of simulated LiDAR.
NoiseParameters	m_noiseParameters
bool	m_isNoiseEnabled = true
bool	m_showNoiseConfig = false

Detailed Description

Configuration reflecting a specific Lidar model. This is meant to capture differences between different Lidars available on the market.

Note

Current implementation is simplified. Rays in real lidars are often not uniformly distributed among angular range, there is noise etc.

Member Data Documentation

m_is2D

bool ROS2::LidarTemplate::m_is2D = false

Whether the template is for a 2D Lidar. This causes vertical parameters of the Lidar to be unmodifiable (m_minVAngle, m_maxVAngle, m_layers).

---

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

• Gems/ROS2/Code/Source/Lidar/LidarTemplate.h