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Drake
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Drake
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Specializes BasicVector with specific getters and setters.
#include <drake/systems/sensors/beam_model_params.h>
Public Types | |
| typedef BeamModelParamsIndices | K |
| An abbreviation for our row index constants. More... | |
Public Member Functions | |
| BeamModelParams () | |
| Default constructor. More... | |
| template<typename U = T> | |
| std::enable_if_t< std::is_same_v< U, symbolic::Expression > > | SetToNamedVariables () |
| Create a symbolic::Variable for each element with the known variable name. More... | |
| BeamModelParams< T > * | DoClone () const final |
| Returns a new BasicVector containing a copy of the entire vector. More... | |
| template<typename Archive > | |
| void | Serialize (Archive *a) |
| Visit each field of this named vector, passing them (in order) to the given Archive. More... | |
| drake::boolean< T > | IsValid () const |
| Returns whether the current values of this vector are well-formed. More... | |
| void | GetElementBounds (Eigen::VectorXd *lower, Eigen::VectorXd *upper) const final |
| Get the bounds for the elements. More... | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, | |
MoveAssignable | |
| BeamModelParams (const BeamModelParams &other) | |
| BeamModelParams (BeamModelParams &&other) noexcept | |
| BeamModelParams & | operator= (const BeamModelParams &other) |
| BeamModelParams & | operator= (BeamModelParams &&other) noexcept |
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) |
| Setter that matches lambda_short(). More... | |
| BeamModelParams< T > | with_lambda_short (const T &lambda_short) const |
| Fluent setter that matches lambda_short(). More... | |
| 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) |
| Setter that matches sigma_hit(). More... | |
| BeamModelParams< T > | with_sigma_hit (const T &sigma_hit) const |
| Fluent setter that matches sigma_hit(). More... | |
| 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) |
| Setter that matches probability_short(). More... | |
| BeamModelParams< T > | with_probability_short (const T &probability_short) const |
| Fluent setter that matches probability_short(). More... | |
| 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) |
| Setter that matches probability_miss(). More... | |
| BeamModelParams< T > | with_probability_miss (const T &probability_miss) const |
| Fluent setter that matches probability_miss(). More... | |
| 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) |
| Setter that matches probability_uniform(). More... | |
| BeamModelParams< T > | with_probability_uniform (const T &probability_uniform) const |
| Fluent setter that matches probability_uniform(). More... | |
 Public Member Functions inherited from BasicVector< T > | |
| BasicVector ()=default | |
| Constructs an empty BasicVector. More... | |
| BasicVector (int size) | |
Initializes with the given size using the drake::dummy_value<T>, which is NaN when T = double. More... | |
| BasicVector (VectorX< T > vec) | |
Constructs a BasicVector with the specified vec data. More... | |
| BasicVector (const std::initializer_list< T > &init) | |
Constructs a BasicVector whose elements are the elements of init. More... | |
| int | size () const final |
| 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... | |
| const VectorX< T > & | value () const |
Returns a const reference to the contained VectorX<T>. 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 resize() to be invoked on the returned object. More... | |
| void | SetFromVector (const Eigen::Ref< const VectorX< T >> &value) final |
Replaces the entire vector with the contents of value. More... | |
| VectorX< T > | CopyToVector () const final |
| Copies this entire VectorBase into a contiguous Eigen Vector. More... | |
| void | ScaleAndAddToVector (const T &scale, EigenPtr< VectorX< T >> vec) const final |
Adds a scaled version of this vector to Eigen vector vec. More... | |
| void | SetZero () final |
| Sets all elements of this vector to zero. More... | |
| std::unique_ptr< BasicVector< T > > | Clone () const |
| Copies the entire vector to a new BasicVector, with the same concrete implementation type. More... | |
| Eigen::VectorBlock< const VectorX< T > > | get_value () const |
| (Don't use this in new code) Returns the entire vector as a const Eigen::VectorBlock. More... | |
| BasicVector (const BasicVector &)=delete | |
| BasicVector & | operator= (const BasicVector &)=delete |
| BasicVector (BasicVector &&)=delete | |
| BasicVector & | operator= (BasicVector &&)=delete |
| Public Member Functions inherited from VectorBase< T > | |
| virtual | ~VectorBase () |
| T & | operator[] (int index) |
| Returns the element at the given index in the vector. More... | |
| const T & | operator[] (int index) const |
| Returns the element at the given index in the vector. More... | |
| const T & | GetAtIndex (int index) const |
| Returns the element at the given index in the vector. More... | |
| T & | GetAtIndex (int index) |
| Returns the element at the given index in the vector. More... | |
| 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... | |
| virtual void | CopyToPreSizedVector (EigenPtr< VectorX< T >> vec) const |
| Copies this entire VectorBase into a pre-sized Eigen Vector. More... | |
| VectorBase & | PlusEqScaled (const T &scale, const VectorBase< T > &rhs) |
Add in scaled vector rhs to this vector. More... | |
| VectorBase & | PlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale) |
| Add in multiple scaled vectors to this vector. More... | |
| VectorBase & | operator+= (const VectorBase< T > &rhs) |
Add in vector rhs to this vector. More... | |
| VectorBase & | operator-= (const VectorBase< T > &rhs) |
Subtract in vector rhs to this vector. More... | |
| VectorBase (const VectorBase &)=delete | |
| VectorBase & | operator= (const VectorBase &)=delete |
| VectorBase (VectorBase &&)=delete | |
| VectorBase & | operator= (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 > &init) |
Constructs a BasicVector whose elements are the elements of init. 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 BasicVector< T > | |
| const T & | DoGetAtIndexUnchecked (int index) const final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| T & | DoGetAtIndexUnchecked (int index) final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| const T & | DoGetAtIndexChecked (int index) const final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| T & | DoGetAtIndexChecked (int index) final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| const VectorX< T > & | values () const |
| Provides const access to the element storage. More... | |
| VectorX< T > & | values () |
| (Advanced) Provides mutable access to the element storage. More... | |
| Protected Member Functions inherited from VectorBase< T > | |
| VectorBase () | |
| void | ThrowOutOfRange (int index) const |
| void | ThrowMismatchedSize (int other_size) const |
| 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... | |
| typedef BeamModelParamsIndices K |
An abbreviation for our row index constants.
| BeamModelParams | ( | ) |
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. | BeamModelParams | ( | const BeamModelParams< T > & | other | ) |
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noexcept |
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finalvirtual |
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 >.
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static |
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finalvirtual |
Get the bounds for the elements.
If lower and upper are both empty size vectors, then there are no bounds. Otherwise, the bounds are (*lower)(i) <= GetAtIndex(i) <= (*upper)(i) The default output is no bounds.
Reimplemented from VectorBase< T >.
| drake::boolean<T> IsValid | ( | ) | const |
Returns whether the current values of this vector are well-formed.
| const T& lambda_short | ( | ) | const |
The rate parameter of the (truncated) exponential distribution governing short returns.
lambda_short is expressed in units of dimensionless. lambda_short has a limited domain of [0.0, +Inf]. | BeamModelParams& operator= | ( | const BeamModelParams< T > & | other | ) |
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noexcept |
| const T& probability_miss | ( | ) | const |
The probability of ignoring the input depth and simply returning the max range of the sensor.
probability_miss is expressed in units of dimensionless. probability_miss has a limited domain of [0.0, 1.0]. | const T& probability_short | ( | ) | const |
The total probability of getting a short return is probability_short * p(lambda_short*w_short <= input_depth)
probability_short is expressed in units of dimensionless. probability_short has a limited domain of [0.0, 1.0]. | 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.
probability_uniform is expressed in units of dimensionless. probability_uniform has a limited domain of [0.0, 1.0]. | void Serialize | ( | Archive * | a | ) |
Visit each field of this named vector, passing them (in order) to the given Archive.
The archive can read and/or write to the vector values. One common use of Serialize is the //common/yaml tools.
| void set_lambda_short | ( | const T & | lambda_short | ) |
Setter that matches lambda_short().
| void set_probability_miss | ( | const T & | probability_miss | ) |
Setter that matches probability_miss().
| void set_probability_short | ( | const T & | probability_short | ) |
Setter that matches probability_short().
| void set_probability_uniform | ( | const T & | probability_uniform | ) |
Setter that matches probability_uniform().
| void set_sigma_hit | ( | const T & | sigma_hit | ) |
Setter that matches sigma_hit().
| std::enable_if_t<std::is_same_v<U, symbolic::Expression> > SetToNamedVariables | ( | ) |
Create a symbolic::Variable for each element with the known variable name.
This is only available for T == symbolic::Expression.
| const T& sigma_hit | ( | ) | const |
The standard deviation of the (truncated) Gaussian distribution governing the noisy returns of the true depth (aka hit)
sigma_hit is expressed in units of m. sigma_hit has a limited domain of [0.0, +Inf]. | BeamModelParams<T> with_lambda_short | ( | const T & | lambda_short | ) | const |
Fluent setter that matches lambda_short().
Returns a copy of this with lambda_short set to a new value.
| BeamModelParams<T> with_probability_miss | ( | const T & | probability_miss | ) | const |
Fluent setter that matches probability_miss().
Returns a copy of this with probability_miss set to a new value.
| BeamModelParams<T> with_probability_short | ( | const T & | probability_short | ) | const |
Fluent setter that matches probability_short().
Returns a copy of this with probability_short set to a new value.
| BeamModelParams<T> with_probability_uniform | ( | const T & | probability_uniform | ) | const |
Fluent setter that matches probability_uniform().
Returns a copy of this with probability_uniform set to a new value.
| BeamModelParams<T> with_sigma_hit | ( | const T & | sigma_hit | ) | const |
Fluent setter that matches sigma_hit().
Returns a copy of this with sigma_hit set to a new value.