Drake
BeamModelParams< T > Class Template Reference

Specializes BasicVector with specific getters and setters. More...

#include <drake/systems/sensors/gen/beam_model_params.h>

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Public Types

typedef BeamModelParamsIndices K
 An abbreviation for our row index constants. More...
 

Public Member Functions

 BeamModelParams ()
 Default constructor. More...
 
BeamModelParams< T > * DoClone () const override
 Returns a new BasicVector containing a copy of the entire vector. More...
 
decltype(T()< T()) IsValid () const
 Returns whether the current values of this vector are well-formed. More...
 
void CalcInequalityConstraint (VectorX< T > *value) const override
 Populates a vector value suitable for a SystemConstraint inequality constraint. More...
 
Getters and Setters
const T & lambda_short () const
 The rate parameter of the (truncated) exponential distribution governing short returns. More...
 
void set_lambda_short (const T &lambda_short)
 
const T & sigma_hit () const
 The standard deviation of the (truncated) Gaussian distribution governing the noisy returns of the true depth (aka hit) More...
 
void set_sigma_hit (const T &sigma_hit)
 
const T & probability_short () const
 The total probability of getting a short return is probability_short * p(lambda_short*w_short <= input_depth) More...
 
void set_probability_short (const T &probability_short)
 
const T & probability_miss () const
 The probability of ignoring the input depth and simply returning the max range of the sensor. More...
 
void set_probability_miss (const T &probability_miss)
 
const T & probability_uniform () const
 The probability of ignoring the input depth and simple returning a uniform random value between 0 and the max range of the sensor. More...
 
void set_probability_uniform (const T &probability_uniform)
 
- Public Member Functions inherited from BasicVector< T >
 BasicVector (int size)
 Initializes with the given size using the drake::dummy_value<T>, which is NaN when T = double. More...
 
 BasicVector (const VectorX< T > &data)
 Constructs a BasicVector with the specified data. More...
 
int size () const override
 Returns the number of elements in the vector. More...
 
void set_value (const Eigen::Ref< const VectorX< T >> &value)
 Sets the vector to the given value. More...
 
Eigen::VectorBlock< const VectorX< T > > get_value () const
 Returns the entire vector as a const Eigen::VectorBlock. More...
 
Eigen::VectorBlock< VectorX< T > > get_mutable_value ()
 Returns the entire vector as a mutable Eigen::VectorBlock, which allows mutation of the values, but does not allow resizing the vector itself. More...
 
const T & GetAtIndex (int index) const override
 Returns the element at the given index in the vector. More...
 
T & GetAtIndex (int index) override
 Returns the element at the given index in the vector. More...
 
void SetFromVector (const Eigen::Ref< const VectorX< T >> &value) override
 Replaces the entire vector with the contents of value. More...
 
VectorX< T > CopyToVector () const override
 Copies the entire state to a vector with no semantics. More...
 
void ScaleAndAddToVector (const T &scale, Eigen::Ref< VectorX< T >> vec) const override
 Adds a scaled version of this vector to Eigen vector vec, which must be the same size. More...
 
void SetZero () override
 
NormInf () const override
 Computes the infinity norm for this vector. More...
 
std::unique_ptr< BasicVector< T > > Clone () const
 Copies the entire vector to a new BasicVector, with the same concrete implementation type. More...
 
 BasicVector (const BasicVector &)=delete
 
BasicVectoroperator= (const BasicVector &)=delete
 
 BasicVector (BasicVector &&)=delete
 
BasicVectoroperator= (BasicVector &&)=delete
 
- Public Member Functions inherited from VectorBase< T >
virtual ~VectorBase ()
 
T & operator[] (std::size_t idx)
 
const T & operator[] (std::size_t idx) const
 
void SetAtIndex (int index, const T &value)
 Replaces the state at the given index with the value. More...
 
virtual void SetFrom (const VectorBase< T > &value)
 Replaces the entire vector with the contents of value. More...
 
VectorBasePlusEqScaled (const T &scale, const VectorBase< T > &rhs)
 Add in scaled vector rhs to this vector. More...
 
VectorBasePlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale)
 Add in multiple scaled vectors to this vector. More...
 
VectorBaseoperator+= (const VectorBase< T > &rhs)
 Add in vector rhs to this vector. More...
 
VectorBaseoperator-= (const VectorBase< T > &rhs)
 Subtract in vector rhs to this vector. More...
 
 VectorBase (const VectorBase &)=delete
 
VectorBaseoperator= (const VectorBase &)=delete
 
 VectorBase (VectorBase &&)=delete
 
VectorBaseoperator= (VectorBase &&)=delete
 

Static Public Member Functions

static const std::vector< std::string > & GetCoordinateNames ()
 See BeamModelParamsIndices::GetCoordinateNames(). More...
 
- Static Public Member Functions inherited from BasicVector< T >
static std::unique_ptr< BasicVector< T > > Make (const std::initializer_list< T > &data)
 Constructs a BasicVector whose elements are the elements of data. More...
 
template<typename... Fargs>
static std::unique_ptr< BasicVector< T > > Make (Fargs &&...args)
 Constructs a BasicVector where each element is constructed using the placewise-corresponding member of args as the sole constructor argument. More...
 

Additional Inherited Members

- Protected Member Functions inherited from VectorBase< T >
 VectorBase ()
 
- Static Protected Member Functions inherited from BasicVector< T >
template<typename F , typename... Fargs>
static void MakeRecursive (BasicVector< T > *data, int index, F constructor_arg, Fargs &&...recursive_args)
 Sets data at index to an object of type T, which must have a single-argument constructor invoked via constructor_arg, and then recursively invokes itself on the next index with recursive args. More...
 
template<typename F , typename... Fargs>
static void MakeRecursive (BasicVector< T > *data, int index, F constructor_arg)
 Base case for the MakeRecursive template recursion. More...
 

Detailed Description

template<typename T>
class drake::systems::sensors::BeamModelParams< T >

Specializes BasicVector with specific getters and setters.

Member Typedef Documentation

An abbreviation for our row index constants.

Constructor & Destructor Documentation

BeamModelParams ( )
inline

Default constructor.

Sets all rows to their default value:

  • lambda_short defaults to 1.0 dimensionless.
  • sigma_hit defaults to 0.0 m.
  • probability_short defaults to 0.0 dimensionless.
  • probability_miss defaults to 0.0 dimensionless.
  • probability_uniform defaults to 0.0 dimensionless.

Member Function Documentation

void CalcInequalityConstraint ( VectorX< T > *  value) const
inlineoverridevirtual

Populates a vector value suitable for a SystemConstraint inequality constraint.

For all indices i in the result vector, the validity constraint is result[i] >= 0. For a given subclass type, the size of the result must not vary over time. The VectorBase default implementation sets the value to be empty (no constraints).

Reimplemented from VectorBase< T >.

BeamModelParams<T>* DoClone ( ) const
inlineoverridevirtual

Returns a new BasicVector containing a copy of the entire vector.

Caller must take ownership, and may rely on the NVI wrapper to initialize the clone elementwise.

Subclasses of BasicVector must override DoClone to return their covariant type.

Reimplemented from BasicVector< T >.

static const std::vector<std::string>& GetCoordinateNames ( )
inlinestatic

See BeamModelParamsIndices::GetCoordinateNames().

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decltype(T() < T()) IsValid ( ) const
inline

Returns whether the current values of this vector are well-formed.

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const T& lambda_short ( ) const
inline

The rate parameter of the (truncated) exponential distribution governing short returns.

Note
lambda_short is expressed in units of dimensionless.
lambda_short has a limited domain of [0.0, +Inf].
const T& probability_miss ( ) const
inline

The probability of ignoring the input depth and simply returning the max range of the sensor.

Note
probability_miss is expressed in units of dimensionless.
probability_miss has a limited domain of [0.0, 1.0].
const T& probability_short ( ) const
inline

The total probability of getting a short return is probability_short * p(lambda_short*w_short <= input_depth)

Note
probability_short is expressed in units of dimensionless.
probability_short has a limited domain of [0.0, 1.0].
const T& probability_uniform ( ) const
inline

The probability of ignoring the input depth and simple returning a uniform random value between 0 and the max range of the sensor.

Note
probability_uniform is expressed in units of dimensionless.
probability_uniform has a limited domain of [0.0, 1.0].
void set_lambda_short ( const T &  lambda_short)
inline
void set_probability_miss ( const T &  probability_miss)
inline
void set_probability_short ( const T &  probability_short)
inline
void set_probability_uniform ( const T &  probability_uniform)
inline
void set_sigma_hit ( const T &  sigma_hit)
inline
const T& sigma_hit ( ) const
inline

The standard deviation of the (truncated) Gaussian distribution governing the noisy returns of the true depth (aka hit)

Note
sigma_hit is expressed in units of m.
sigma_hit has a limited domain of [0.0, +Inf].

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