Helios++
Helios software for LiDAR simulations
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Class representing a risley prisms beam deflector. More...
#include <RisleyBeamDeflector.h>
Public Member Functions | |
RisleyBeamDeflector (double scanAngleMax_rad, double rotorFreq_Hz_1, double rotorFreq_Hz_2) | |
Constructor for risley prisms beam deflector. More... | |
std::shared_ptr< AbstractBeamDeflector > | clone () override |
void | _clone (std::shared_ptr< AbstractBeamDeflector > abd) override |
void | applySettings (std::shared_ptr< ScannerSettings > settings) override |
void | doSimStep () override |
void | setScanAngle_rad (double scanAngle_rad) override |
void | setScanFreq_Hz (double scanFreq_Hz) override |
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AbstractBeamDeflector (double scanAngleMax_rad, double scanFreqMax_Hz, double scanFreqMin_Hz) | |
Base constructor for beam deflectors. More... | |
virtual bool | lastPulseLeftDevice () |
Check if last pulse left device (true) or not (false) More... | |
virtual void | restartDeflector () |
Restart the deflector. This method is meant to be invoked whenever the deflector needs to be restarted. Which generally occurs when the previous leg was inactive. | |
Rotation | getEmitterRelativeAttitude () |
Get the relative emitter attitude. More... | |
Rotation & | getEmitterRelativeAttitudeByReference () |
Get the relative emitter attitude by referencce. More... | |
Public Attributes | |
double | deltaT = 0 |
double | pulseFreq = 0 |
double | time = 0 |
double | scanAngle = 0 |
Scan Angle (defined as the half angle) | |
double | rotorSpeed_rad_1 = 0 |
double | rotorSpeed_rad_2 = 0 |
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double | cfg_device_scanFreqMax_Hz = 0 |
Minimum scanning frequency (hertz) | |
double | cfg_device_scanFreqMin_Hz = 0 |
Maximum scanning frequency (hertz) | |
double | cfg_device_scanAngleMax_rad = 0 |
Maximum scanning angle (radians) | |
double | cfg_setting_scanFreq_Hz = 0 |
Scanning frequency (hertz) | |
double | cfg_setting_scanAngle_rad = 0 |
Scanning angle (radians) | |
double | cfg_setting_verticalAngleMin_rad = 0 |
Minimum vertical scanning angle (radians) | |
double | cfg_setting_verticalAngleMax_rad = 0 |
Maximum vertical scanning angle (radians) | |
double | state_currentBeamAngle_rad = 0 |
Current beam angle (radians) | |
double | state_angleDiff_rad = 0 |
Angle differential (radians) | |
double | cached_angleBetweenPulses_rad |
Angle between pulses (radians) | |
Rotation | cached_emitterRelativeAttitude = Rotation(glm::dvec3(1, 0, 0), 0) |
Relative emitter attitude. | |
Class representing a risley prisms beam deflector.
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inline |
Constructor for risley prisms beam deflector.
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overridevirtual |
Reimplemented from AbstractBeamDeflector.
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overridevirtual |
Implements AbstractBeamDeflector.
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overridevirtual |
Reimplemented from AbstractBeamDeflector.
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overridevirtual |
Reimplemented from AbstractBeamDeflector.