FLidarDescription Struct Reference

#include <LidarDescription.h>

Public Attributes
float	AtmospAttenRate = 0.004f
	Attenuation Rate in the atmosphere in m^-1.
uint32	Channels = 32u
	Number of lasers.
float	DropOffAtZeroIntensity = 0.4f
	General drop off rate.
float	DropOffGenRate = 0.45f
	General drop off rate.
float	DropOffIntensityLimit = 0.8f
	General drop off rate.
float	HorizontalFov = 360.0f
	Horizontal field of view.
float	HorizontalResolution = 0.1f
	Horizontal resolution of the lidar, in degrees.
float	LowerFovLimit = -30.0f
	Lower laser angle, counts from horizontal, negative values means under horizontal line.
float	NoiseStdDev = 0.0f
uint32	PointsPerSecond = 56000u
	Points generated by all lasers per second.
int	RandomSeed = 0
	Random seed for the noise/dropoff used by this sensor.
float	Range = 1000.0f
	Measure distance in centimeters.
float	RotationFrequency = 10.0f
	Lidar rotation frequency.
bool	ShowDebugPoints = false
	Wether to show debug points of laser hits in simulator.
float	UpperFovLimit = 10.0f
	Upper laser angle, counts from horizontal, positive values means above horizontal line.

Detailed Description

Definition at line 12 of file LidarDescription.h.

Member Data Documentation

AtmospAttenRate

float FLidarDescription::AtmospAttenRate = 0.004f

Attenuation Rate in the atmosphere in m^-1.

Definition at line 48 of file LidarDescription.h.

Referenced by AHSSLidar::ComputeDetection(), ARayCastLidar::ComputeDetection(), ARayCastLidar::ComputeIntensity(), and UActorBlueprintFunctionLibrary::SetLidar().

Channels

uint32 FLidarDescription::Channels = 32u

Number of lasers.

Definition at line 18 of file LidarDescription.h.

Referenced by ARayCastSemanticLidar::ComputeAndSaveDetections(), AHSSLidar::ComputeAndSaveDetections(), ARayCastLidar::ComputeAndSaveDetections(), ARayCastSemanticLidar::CreateLasers(), ARayCastLidar::SendData(), ARayCastSemanticLidar::Set(), AHSSLidar::Set(), ARayCastLidar::Set(), UActorBlueprintFunctionLibrary::SetLidar(), ARayCastSemanticLidar::SimulateLidar(), and AHSSLidar::SimulateLidar().

DropOffAtZeroIntensity

float FLidarDescription::DropOffAtZeroIntensity = 0.4f

General drop off rate.

Definition at line 64 of file LidarDescription.h.

Referenced by AHSSLidar::Set(), ARayCastLidar::Set(), and UActorBlueprintFunctionLibrary::SetLidar().

DropOffGenRate

float FLidarDescription::DropOffGenRate = 0.45f

General drop off rate.

Definition at line 56 of file LidarDescription.h.

Referenced by AHSSLidar::PreprocessRays(), ARayCastLidar::PreprocessRays(), AHSSLidar::Set(), ARayCastLidar::Set(), and UActorBlueprintFunctionLibrary::SetLidar().

DropOffIntensityLimit

float FLidarDescription::DropOffIntensityLimit = 0.8f

General drop off rate.

Definition at line 60 of file LidarDescription.h.

Referenced by AHSSLidar::PostprocessDetection(), ARayCastLidar::PostprocessDetection(), AHSSLidar::Set(), ARayCastLidar::Set(), and UActorBlueprintFunctionLibrary::SetLidar().

HorizontalFov

float FLidarDescription::HorizontalFov = 360.0f

Horizontal field of view.

Definition at line 44 of file LidarDescription.h.

Referenced by UActorBlueprintFunctionLibrary::SetLidar(), ARayCastSemanticLidar::SimulateLidar(), and AHSSLidar::SimulateLidar().

HorizontalResolution

float FLidarDescription::HorizontalResolution = 0.1f

Horizontal resolution of the lidar, in degrees.

Definition at line 75 of file LidarDescription.h.

Referenced by UActorBlueprintFunctionLibrary::SetLidar(), and AHSSLidar::SimulateLidar().

LowerFovLimit

float FLidarDescription::LowerFovLimit = -30.0f

Lower laser angle, counts from horizontal, negative values means under horizontal line.

Definition at line 40 of file LidarDescription.h.

Referenced by ARayCastSemanticLidar::CreateLasers(), ARayCastLidar::SendData(), and UActorBlueprintFunctionLibrary::SetLidar().

NoiseStdDev

float FLidarDescription::NoiseStdDev = 0.0f

Definition at line 71 of file LidarDescription.h.

Referenced by AHSSLidar::PostprocessDetection(), ARayCastLidar::PostprocessDetection(), and UActorBlueprintFunctionLibrary::SetLidar().

PointsPerSecond

uint32 FLidarDescription::PointsPerSecond = 56000u

Points generated by all lasers per second.

Definition at line 26 of file LidarDescription.h.

Referenced by UActorBlueprintFunctionLibrary::SetLidar(), and ARayCastSemanticLidar::SimulateLidar().

RandomSeed

int FLidarDescription::RandomSeed = 0

Random seed for the noise/dropoff used by this sensor.

Definition at line 52 of file LidarDescription.h.

Referenced by AHSSLidar::AHSSLidar(), ARayCastLidar::ARayCastLidar(), AHSSLidar::Set(), ARayCastLidar::Set(), and UActorBlueprintFunctionLibrary::SetLidar().

Range

float FLidarDescription::Range = 1000.0f

Measure distance in centimeters.

Definition at line 22 of file LidarDescription.h.

Referenced by UActorBlueprintFunctionLibrary::SetLidar(), and ARayCastSemanticLidar::ShootLaser().

RotationFrequency

float FLidarDescription::RotationFrequency = 10.0f

Lidar rotation frequency.

Definition at line 30 of file LidarDescription.h.

Referenced by UActorBlueprintFunctionLibrary::SetLidar(), and ARayCastSemanticLidar::SimulateLidar().

ShowDebugPoints

bool FLidarDescription::ShowDebugPoints = false

Wether to show debug points of laser hits in simulator.

Definition at line 68 of file LidarDescription.h.

UpperFovLimit

float FLidarDescription::UpperFovLimit = 10.0f

Upper laser angle, counts from horizontal, positive values means above horizontal line.

Definition at line 35 of file LidarDescription.h.

Referenced by ARayCastSemanticLidar::CreateLasers(), ARayCastLidar::SendData(), and UActorBlueprintFunctionLibrary::SetLidar().

---

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

• LidarDescription.h