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23 #include <sdf/sdf_config.h>
25 #include <ignition/math/Angle.hh>
30 inline namespace SDF_VERSION_NAMESPACE {
256 private: LidarPrivate *dataPtr;
void SetVerticalScanMinAngle(const ignition::math::Angle &_min)
Set the minimum angle for vertical scan.
ignition::math::Angle HorizontalScanMaxAngle() const
Get the maximum angle for horizontal scan.
ignition::math::Angle VerticalScanMaxAngle() const
Get the maximum angle for vertical scan.
namespace for Simulation Description Format parser
Definition: Actor.hh:33
void SetRangeMin(double _min)
Set minimum distance for each lidar ray.
void SetLidarNoise(const Noise &_noise)
\biref Set the noise values for the lidar sensor.
Lidar()
Default constructor.
Lidar(const Lidar &_lidar)
Copy constructor.
unsigned int VerticalScanSamples() const
Get the number of lidar rays vertically to generate per laser sweep.
Lidar(Lidar &&_lidar) noexcept
Move constructor.
Errors Load(ElementPtr _sdf)
Load the lidar based on an element pointer.
double RangeResolution() const
Get linear resolution of each lidar ray.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const Noise & LidarNoise() const
Get the noise values for the lidar sensor.
void SetRangeResolution(double _range)
Set linear resolution of each lidar ray.
double VerticalScanResolution() const
Get the resolution for vertical scan.
ignition::math::Angle VerticalScanMinAngle() const
Get the minimum angle for vertical scan.
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
Lidar & operator=(Lidar &&_lidar) noexcept
Move assignment operator.
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:50
double HorizontalScanResolution() const
Get the resolution for horizontal scan.
void SetHorizontalScanMaxAngle(const ignition::math::Angle &_max)
Set the maximum angle for horizontal scan.
bool operator!=(const Lidar &_lidar) const
Return true this Lidar object does not contain the same values as the passed in parameter.
void SetHorizontalScanResolution(double _res)
Set the resolution for horizontal scan.
void SetRangeMax(double _max)
Set maximum distance for each lidar ray.
void SetVerticalScanSamples(unsigned int _samples)
Set the number of lidar rays vertically to generate per laser sweep.
unsigned int HorizontalScanSamples() const
Get the number of lidar rays horizontally to generate per laser sweep.
bool operator==(const Lidar &_lidar) const
Return true if both Lidar objects contain the same values.
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
void SetVerticalScanMaxAngle(const ignition::math::Angle &_max)
Set the maximum angle for vertical scan.
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:105
double RangeMin() const
Get minimum distance for each lidar ray.
void SetVerticalScanResolution(double _res)
Set the resolution for vertical scan.
void SetHorizontalScanSamples(unsigned int _samples)
Set the number of lidar rays horizontally to generate per laser sweep.
double RangeMax() const
Get maximum distance for each lidar ray.
Lidar & operator=(const Lidar &_lidar)
Assignment operator.
void SetHorizontalScanMinAngle(const ignition::math::Angle &_min)
Set the minimum angle for horizontal scan.
ignition::math::Angle HorizontalScanMinAngle() const
Get the minimum angle for horizontal scan.