cloe::frustum_culling_plugin::ObjectFrustumCulling Class Reference

This class rotates objects to the coordinate system of a different sensor. More...

Inheritance diagram for cloe::frustum_culling_plugin::ObjectFrustumCulling:

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Public Member Functions
	ObjectFrustumCulling (const std::string &name, const FrustumCullingConf &conf, std::shared_ptr< ObjectSensor > obs)
const Objects &	sensed_objects () const override
const Frustum &	frustum () const override
const Eigen::Isometry3d &	mount_pose () const override
Duration	process (const Sync &sync) override
void	reset () override
void	abort () override
void	enroll (Registrar &r) override
Public Member Functions inherited from cloe::ObjectSensor
fable::Json	active_state () const override
	Component (const std::string &name, const std::string &description="")
	Component (std::string &&name, std::string &&description="")
Public Member Functions inherited from cloe::Component
	Component (const std::string &name, const std::string &description="")
	Component (std::string &&name, std::string &&description="")
uint64_t	id () const
template<typename T >
T *	as ()
Duration	process (const Sync &sync) override
void	reset () override
void	abort () override
Public Member Functions inherited from cloe::Model
virtual	~Model () noexcept=default
virtual Duration	resolution () const
virtual bool	is_connected () const
virtual bool	is_operational () const
virtual void	connect ()
virtual void	disconnect ()
virtual void	start (const Sync &)
virtual void	pause (const Sync &)
virtual void	resume (const Sync &)
virtual void	stop (const Sync &)
	Entity (std::string name)
	Entity (std::string name, std::string desc)
Public Member Functions inherited from cloe::Entity
	Entity (std::string name)
	Entity (std::string name, std::string desc)
const std::string &	name () const
void	set_name (std::string name)
const std::string &	description () const
void	set_description (std::string desc)

Protected Member Functions
std::shared_ptr< Object >	apply_frustum_culling (const std::shared_ptr< Object > &o) const
void	clear_cache ()
Protected Member Functions inherited from cloe::Entity
virtual Logger	logger () const

Additional Inherited Members
Protected Attributes inherited from cloe::Model
bool	connected_ {false}
bool	operational_ {false}
Protected Attributes inherited from cloe::Entity
std::string	name_
std::string	desc_

Detailed Description

This class rotates objects to the coordinate system of a different sensor.

An object given in coordinate system c1 is converted to an object in coordinate system c2 via the configured reference frame in the configuration. The reference frame configuration expects the values from c1 to c2, e.g. if c2 is rotated by 90 degrees in mathematic positive direction from c1, the yaw should be set to +90 degree (in radians) Analoguely, if the origin of c2 is translated 5 m in positive x direction from c1, the configuration should be set to +5 m. The class considers first the translation in the original coordinate system (c1) and then the rotation.

Member Function Documentation

abort()

void cloe::frustum_culling_plugin::ObjectFrustumCulling::abort ( )

inlineoverridevirtual

Signal an abort to model processing.

This method is called asynchronously. It is highly recommended to make use of a std::atomic_bool for purposes of making the abortion request known to other parts of the model. This method is called when the user requests the simulation to be aborted, e.g., by sending the SIGINT signal.

An abort will be followed by a stop if the simulation was started.

The default implementation will throw an error. This will be caught and possibly ignored. Otherwise, the simulation will be killed.

See also

cloe/core/abort.hpp

Reimplemented from cloe::Model.

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enroll()

void cloe::frustum_culling_plugin::ObjectFrustumCulling::enroll ( Registrar &  )

inlineoverridevirtual

Register any events, actions, or handlers with the registrar.

• This may exhibit different behavior when called in a disconnected state, in order to provide the possibility for verification of triggers in offline mode.
• It may throw an exception.

Reimplemented from cloe::Model.

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frustum()

const Frustum& cloe::frustum_culling_plugin::ObjectFrustumCulling::frustum ( ) const

inlineoverridevirtual

Return the frustum of the object sensor.

Implements cloe::ObjectSensor.

mount_pose()

const Eigen::Isometry3d& cloe::frustum_culling_plugin::ObjectFrustumCulling::mount_pose ( ) const

inlineoverridevirtual

Return the mounting position of the object sensor.

Implements cloe::ObjectSensor.

process()

Duration cloe::frustum_culling_plugin::ObjectFrustumCulling::process ( const Sync &  sync )

inlineoverridevirtual

Process the underlying sensor and clear the cache.

We could process and create the filtered list of objects now, but we can also delay it (lazy computation) and only do it when absolutely necessary. This comes at the minor cost of checking whether cached_ is true every time sensed_objects() is called.

Implements cloe::Model.

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reset()

void cloe::frustum_culling_plugin::ObjectFrustumCulling::reset ( )

inlineoverridevirtual

Reset the model state.

This is called when Cloe is asked to reset the whole simulation to time 0. This can be the case when the simulator or a controller asks us to recover from a temporary problem without repeating the whole simulation setup.

The default implementation will raise an error. So if your model is not able to re-initialize, the simulation will be aborted.

Reimplemented from cloe::Model.

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sensed_objects()

const Objects& cloe::frustum_culling_plugin::ObjectFrustumCulling::sensed_objects ( ) const

inlineoverridevirtual

Return the sensed world objects, whether dynamic or static. "World" in this case means the environment. These may be fused or from an individual sensor.

• The returned pointer is invalid after ClearCache is called.
• The ObjectSensor that returns the pointer manages the memory.
• The returned objects have the origin of center-rear axle.

Implements cloe::ObjectSensor.

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

• /home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/latest/plugins/frustum_culling/src/frustum_culling_objects.cpp