#include <LidarTemplate.h>

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

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: