Lidar

File: lidar.py

Author: Marcelo Jacinto (marcelo.jacinto@tecnico.ulisboa.pt)

License: BSD-3-Clause. Copyright (c) 2024, Marcelo Jacinto. All rights reserved.

Description: Simulates a lidar attached to the vehicle

Classes:

Lidar

class pegasus.simulator.logic.graphical_sensors.lidar.Lidar

Bases: GraphicalSensor

Methods:

__init__(lidar_name[, config])	Initialize the Lidar class
initialize(vehicle)	Initialize the Lidar sensor
start()	Method that when implemented should handle the begining of the simulation of vehicle
update(state, dt)	Method that should be implemented by the class that inherits Sensor.

Attributes:

state

(dict) The 'state' of the sensor, i.e. the data produced by the sensor at any given point in time.

__init__(lidar_name, config={})

Initialize the Lidar class

The available configurations for the lidar are available in the folder exts/omni.isaac.sensor/data/lidar_configs Check also the official documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_rtx_based_lidar.html

initialize(vehicle)

Initialize the Lidar sensor

start()

Method that when implemented should handle the begining of the simulation of vehicle

update(state, dt)

Method that should be implemented by the class that inherits Sensor. This is where the actual implementation of the sensor should be performed.

Parameters:

• state (State) – The current state of the vehicle.

• dt (float) – The time elapsed between the previous and current function calls (s).

Returns:

(dict) A dictionary containing the current state of the sensor (the data produced by the sensor)

property state

(dict) The ‘state’ of the sensor, i.e. the data produced by the sensor at any given point in time