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

#include <valkyrie/sensors/LidarSensor.h>

Inheritance diagram for valor::sensors::LidarSensor:

Classes
struct	SimState

Public Member Functions
	LidarSensor ()
	Construct a new LidarSensor object.
void	SetMaxDistance (units::millimeter_t dist)
units::millimeter_t	GetMaxDistance () const
void	SetDefaultDistance (units::millimeter_t dist)
units::millimeter_t	GetDefaultDistance () const
virtual bool	IsHealthy () const
	Represents whether the sensor data is healthy.
void	SetupSim (std::function< frc::Pose2d()> robotPoseGetter, frc::Transform2d sensorPosition, std::vector< sim::FieldFeature > features)
void	SetGetter (std::function< units::millimeter_t()> getter)
void	LoggablePeriodic () override
	Periodic callback for logging updates.
Public Member Functions inherited from valor::sensors::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 () const
	Get the current sensor state.
void	Refresh () override
	Refresh the sensor state.
Public Member Functions inherited from valor::sensors::BaseSensorCore
virtual void	Calculate ()
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()=default
	Default construct an uninitialized 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.
bool	WriteLog (std::string_view field, bool data)
double	WriteLog (std::string_view field, double data)
void	WriteLog (std::string_view field, const std::vector< double > &data)
template<typename U> requires units::traits::is_unit_t_v<U>
U	WriteLog (std::string_view field, U data)
void	WriteLog (std::string_view field, std::string_view data)
template<typename E> requires std::is_enum_v<E>
void	WriteLog (std::string_view field, E data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const T &data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const std::vector< T > &data)
bool	ReadLog (std::string_view field, bool defaultValue)
double	ReadLog (std::string_view field, double defaultValue)
template<typename U> requires units::traits::is_unit_t_v<U>
U	ReadLog (std::string_view field, U defaultValue)

Protected Attributes
std::unique_ptr< SimState >	simState
Protected Attributes inherited from valor::sensors::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

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static constexpr Loggable &	GetRoot ()
Static Public Attributes inherited from valor::sensors::BaseSensorCore
static constexpr units::millisecond_t	LOOP_PERIOD = frc::TimedRobot::kDefaultPeriod / 2
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.

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::sensors::LidarSensor::LidarSensor ( )

Construct a new LidarSensor object.

Parameters

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

Member Function Documentation

◆ IsHealthy()

virtual bool valor::sensors::LidarSensor::IsHealthy ( ) const

inlinevirtual

Represents whether the sensor data is healthy.

If the data is not healthy, LidarSensor will return the default distance instead of the sensor's getter

Reimplemented in valor::sensors::CANrangeSensor, and valor::sensors::GrappleSensor.

◆ LoggablePeriodic()

void valor::sensors::LidarSensor::LoggablePeriodic ( )

overridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

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

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

Classes

Public Member Functions