Specific implementation of the Lidar Sensor for Grapple Robotics LidarCAN device. More...

#include <LidarSensor.h>

Inheritance diagram for valor::LidarSensor:

Classes
struct	SimState

Public Member Functions
	LidarSensor (frc::TimedRobot &robot)
	Construct a new LidarSensor object.

units::millimeter_t	getMaxDistance ()
	Get the maximum distance threshold for the Lidar sensor.

void	setMaxDistance (units::millimeter_t maxDistance)
	Set the maximum distance threshold for the Lidar sensor.

void	setupSim (std::function< frc::Pose2d()> robotPoseGetter, frc::Transform2d sensorPosition, std::vector< sim::FieldFeature > features)

void	setGetter (std::function< units::millimeter_t()> getter)

Public Member Functions inherited from valor::BaseSensor< units::millimeter_t >
virtual void	reset ()
	Reset the sensor state.

void	setGetter (std::function< units::millimeter_t()> _lambda)
	Set the lambda function to fetch sensor data.

void	applyPostProcessing (std::function< units::millimeter_t(units::millimeter_t)> func)
	Set a post-processing function for sensor data.

units::millimeter_t	get ()
	Get the current sensor state.

Public Member Functions inherited from valor::Loggable
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.

void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.

void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.

template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)

template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)

template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Protected Member Functions
void	calculate () override
	Perform Lidar-specific calculations.

Protected Member Functions inherited from valor::BaseSensor< units::millimeter_t >
	BaseSensor (frc::TimedRobot &robot)
	Construct a new BaseSensor object.

virtual void	refresh ()
	Refresh the sensor state.

Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.

	Loggable ()
	Default construct an uninitialized Loggable.

virtual	~Loggable ()=default
	Virtual destructor.

virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.

virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.

template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.

template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

Protected Attributes
std::unique_ptr< SimState >	simState

Protected Attributes inherited from valor::BaseSensor< units::millimeter_t >
std::function< units::millimeter_t()>	sensorLambda
	Lambda function to fetch sensor data.

std::function< units::millimeter_t(units::millimeter_t)>	postProcessor
	Lambda function to post-process sensor data.

units::millimeter_t	prevState
	Previous and current sensor states.

units::millimeter_t	currState

frc::Timer	profiler

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()

Detailed Description

Specific implementation of the Lidar Sensor for Grapple Robotics LidarCAN device.

This class extends the BaseSensor class and provides functionality specific to the Lidar sensor. It allows for fetching distance measurements and setting a maximum distance threshold.

Constructor & Destructor Documentation

◆ LidarSensor()

valor::LidarSensor::LidarSensor ( frc::TimedRobot & robot )

explicit

Construct a new LidarSensor object.

Parameters

robot Reference to the robot, used to schedule the calculate method.

Member Function Documentation

◆ calculate()

void valor::LidarSensor::calculate ( )

overrideprotectedvirtual

Perform Lidar-specific calculations.

This method is called every 10ms and processes the sensor data fetched by the lambda function.

Implements valor::BaseSensor< units::millimeter_t >.

◆ getMaxDistance()

units::millimeter_t valor::LidarSensor::getMaxDistance ( )

Get the maximum distance threshold for the Lidar sensor.

Returns: units::millimeter_t Maximum distance threshold.

◆ setMaxDistance()

void valor::LidarSensor::setMaxDistance ( units::millimeter_t maxDistance )

Set the maximum distance threshold for the Lidar sensor.

Parameters

maxDistance Maximum distance threshold in millimeters.

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

src/main/include/valkyrie/sensors/LidarSensor.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes