Description

Base class for a Chrono sensor.

#include <ChSensor.h>

Inheritance diagram for chrono::sensor::ChSensor:

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Collaboration diagram for chrono::sensor::ChSensor:

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Public Member Functions
	ChSensor (std::shared_ptr< ChBody > parent, float updateRate, ChFrame< double > offsetPose)
	Constructor for the base sensor class. More...

void	SetOffsetPose (ChFrame< double > pose)
	Set the sensor's relative position and orientation. More...

ChFrame< double >	GetOffsetPose ()
	Get the sensor's relative position and orientation. More...

std::shared_ptr< ChBody >	GetParent () const
	Get the object to which the sensor is attached. More...

void	SetName (std::string name)
	Set the sensor's name. More...

std::string	GetName () const
	Get the name of the sensor. More...

float	GetUpdateRate () const
	Get the sensor update rate (Hz). More...

void	SetLag (float t)
	Set the lag parameter. More...

float	GetLag () const
	Get the sensor lag (seconds). More...

void	SetCollectionWindow (float t)
	Set the collection window. More...

float	GetCollectionWindow () const
	Get the sensor data collection window (seconds). More...

void	SetUpdateRate (float updateRate)
	Set the sensor update rate (Hz). More...

unsigned int	GetNumLaunches ()
	Get the number of times the sensor has been updated. More...

void	IncrementNumLaunches ()
	Increments the count of number of updates.

std::list< std::shared_ptr< ChFilter > >	GetFilterList () const
	Get the sensor's list of filters. More...

void	PushFilter (std::shared_ptr< ChFilter > filter)
	Add a filter to the sensor. More...

void	PushFilterFront (std::shared_ptr< ChFilter > filter)
	Add a filter to the front of the list on a sensor. More...

void	LockFilterList ()
	Gives ability to lock the filter list to prevent race conditions. More...

unsigned int	GetRngSensorOrdinal () const
	This sensor's registration ordinal within its manager, used to give it RNG streams distinct from every other sensor's. More...

unsigned int	GetRngManagerId () const
	The id of the manager this sensor is registered with. More...

template<class UserBufferType >
UserBufferType	GetMostRecentBuffer ()
	Get the last filter in the list that matches the template type. More...

template<>
CH_SENSOR_API UserAccelBufferPtr	GetMostRecentBuffer ()

Protected Attributes
float	m_updateRate
	sensor update rate

float	m_lag
	sensor lag from the time all scene information is available (sensor processing time)

float	m_collection_window
	time over which data is collected. More...

float	m_timeLastUpdated
	time since previous update

std::shared_ptr< ChBody >	m_parent
	object to which the sensor is attached

ChFrame< double >	m_offsetPose
	position and orientation of the sensor relative to its parent

std::string	m_name
	name of the sensor

unsigned int	m_num_launches
	number of times the sensor has been updated

std::list< std::shared_ptr< ChFilter > >	m_filters
	filter list for post-processing sensor data

bool	m_filter_list_locked = false
	gives ability to lock the filter list to prevent race conditions

Friends
class	ChSensorManager
	assigns m_rng_sensor_ordinal and m_rng_manager_id in AddSensor

Constructor & Destructor Documentation

◆ ChSensor()

chrono::sensor::ChSensor::ChSensor	(	std::shared_ptr< ChBody >	parent,
		float	updateRate,
		ChFrame< double >	offsetPose
	)

Constructor for the base sensor class.

Parameters

parent	Body to which the sensor is attached.
updateRate	Rate at which the sensor should update.
offsetPose	Relative position and orientation of the sensor with respect to its parent object.

Member Function Documentation

◆ GetCollectionWindow()

float chrono::sensor::ChSensor::GetCollectionWindow ( ) const

inline

Get the sensor data collection window (seconds).

Returns: The duration of simulation time over which the sensor generates its data

◆ GetFilterList()

std::list<std::shared_ptr<ChFilter> > chrono::sensor::ChSensor::GetFilterList ( ) const

inline

Get the sensor's list of filters.

Returns: An immutable list of filters that are used to generate and augment the sensor's data

◆ GetLag()

float chrono::sensor::ChSensor::GetLag ( ) const

inline

Get the sensor lag (seconds).

Returns: The lag of the sensor

◆ GetMostRecentBuffer()

template<class UserBufferType >

UserBufferType chrono::sensor::ChSensor::GetMostRecentBuffer ( )

Get the last filter in the list that matches the template type.

Returns: A shared pointer to a ChSensorBuffer of the templated type.

◆ GetName()

std::string chrono::sensor::ChSensor::GetName ( ) const

inline

Get the name of the sensor.

Returns: The string name of the sensor

◆ GetNumLaunches()

unsigned int chrono::sensor::ChSensor::GetNumLaunches ( )

inline

Get the number of times the sensor has been updated.

Returns: The number of times an update for the sensor has been started

◆ GetOffsetPose()

ChFrame<double> chrono::sensor::ChSensor::GetOffsetPose ( )

inline

Get the sensor's relative position and orientation.

Returns: The frame that specifies the offset pose

◆ GetParent()

std::shared_ptr<ChBody> chrono::sensor::ChSensor::GetParent ( ) const

inline

Get the object to which the sensor is attached.

Returns: A shared pointer to the body on which the sensor is attached

◆ GetRngManagerId()

unsigned int chrono::sensor::ChSensor::GetRngManagerId ( ) const

inline

The id of the manager this sensor is registered with.

Present because the fixed seed is process-global while ordinals restart at zero in each manager, so without this the first sensor of two coexisting managers would share a stream.

Returns: The manager id, or CH_SENSOR_UNASSIGNED_RNG_ID if this sensor was never registered.

◆ GetRngSensorOrdinal()

unsigned int chrono::sensor::ChSensor::GetRngSensorOrdinal ( ) const

inline

This sensor's registration ordinal within its manager, used to give it RNG streams distinct from every other sensor's.

Assigned by ChSensorManager::AddSensor in registration order.

Registration order is therefore part of the reproducibility contract: adding or reordering AddSensor calls changes which random numbers a sensor draws, even under the same fixed seed.

Returns: The ordinal, or CH_SENSOR_UNASSIGNED_RNG_ID if this sensor was never registered.

◆ GetUpdateRate()

float chrono::sensor::ChSensor::GetUpdateRate ( ) const

inline

Get the sensor update rate (Hz).

Returns: The update rate in Hz

◆ LockFilterList()

void chrono::sensor::ChSensor::LockFilterList ( )

inline

Gives ability to lock the filter list to prevent race conditions.

This is called automatically when the sensor is added to the ChSensor manager. This is needed to prevent changing of filters while a worker thread is processing the filters. WARNING: this operation cannot be undone.

◆ PushFilter()

void chrono::sensor::ChSensor::PushFilter ( std::shared_ptr< ChFilter > filter )

Add a filter to the sensor.

Parameters

filter A filter that should be added to the filter list if the filter list is not yet locked. If the filter list has been locked (i.e. the sensor has started generating data) the new filter will be ignored.

◆ PushFilterFront()

void chrono::sensor::ChSensor::PushFilterFront ( std::shared_ptr< ChFilter > filter )

Add a filter to the front of the list on a sensor.

Parameters

filter A filter that should be added to the filter list if the filter list is not yet locked. If the filter list has been locked (i.e. the sensor has started generating data) the new filter will be ignored.

◆ SetCollectionWindow()

void chrono::sensor::ChSensor::SetCollectionWindow ( float t )

Set the collection window.

Parameters

t	The collection time of the sensor

◆ SetLag()

void chrono::sensor::ChSensor::SetLag ( float t )

Set the lag parameter.

Parameters

t	The lag time

◆ SetName()

void chrono::sensor::ChSensor::SetName ( std::string name )

inline

Set the sensor's name.

Parameters

name	Name of the sensor -> not used for any internal critical mechanisms

◆ SetOffsetPose()

void chrono::sensor::ChSensor::SetOffsetPose ( ChFrame< double > pose )

inline

Set the sensor's relative position and orientation.

Parameters

pose	The relative position and orientation with respect to the parent body

◆ SetUpdateRate()

void chrono::sensor::ChSensor::SetUpdateRate ( float updateRate )

inline

Set the sensor update rate (Hz).

Parameters

updateRate Desired update rate in Hz

Member Data Documentation

◆ m_collection_window

float chrono::sensor::ChSensor::m_collection_window

protected

time over which data is collected.

(lag+shutter = time from when data collection is started to when it is available to the user)

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_sensor/sensors/ChSensor.h
/builds/uwsbel/chrono/src/chrono_sensor/sensors/ChSensor.cpp

Description

Public Member Functions

Protected Attributes

Friends

Constructor & Destructor Documentation

◆ ChSensor()

Member Function Documentation

◆ GetCollectionWindow()

◆ GetFilterList()

◆ GetLag()

◆ GetMostRecentBuffer()

◆ GetName()

◆ GetNumLaunches()

◆ GetOffsetPose()

◆ GetParent()

◆ GetRngManagerId()

◆ GetRngSensorOrdinal()

◆ GetUpdateRate()

◆ LockFilterList()

◆ PushFilter()

◆ PushFilterFront()

◆ SetCollectionWindow()

◆ SetLag()

◆ SetName()

◆ SetOffsetPose()

◆ SetUpdateRate()

Member Data Documentation

◆ m_collection_window