Class SimulationServer¶
- Defined in File simulation_server.h
Class Documentation¶
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class
SimulationServer
¶ Public Functions
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SimulationServer
(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)¶
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SimulationServer
(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private, const EsdfMap::Config &esdf_config, const EsdfIntegrator::Config &esdf_integrator_config, const TsdfMap::Config &tsdf_config, const TsdfIntegratorBase::Config &tsdf_integrator_config)¶
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virtual
~SimulationServer
()¶
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void
run
()¶ Runs all of the below functions in the correct order:
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virtual void
prepareWorld
() = 0¶ Creates a new world, and prepares ground truth SDF(s).
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void
generateSDF
()¶ Generates a SDF by generating random poses and putting them into an SDF.
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void
evaluate
()¶ Evaluate errors…
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void
visualize
()¶ Visualize results. :)
Protected Functions
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void
getServerConfigFromRosParam
(const ros::NodeHandle &nh_private)¶
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bool
generatePlausibleViewpoint
(FloatingPoint min_distance, Point *ray_origin, Point *ray_direction) const¶ Convenience function to generate valid viewpoints.
Protected Attributes
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ros::NodeHandle
nh_
¶
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ros::NodeHandle
nh_private_
¶
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ros::Publisher
sim_pub_
¶
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ros::Publisher
tsdf_gt_pub_
¶
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ros::Publisher
esdf_gt_pub_
¶
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ros::Publisher
tsdf_gt_mesh_pub_
¶
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ros::Publisher
tsdf_test_pub_
¶
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ros::Publisher
esdf_test_pub_
¶
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ros::Publisher
tsdf_test_mesh_pub_
¶
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ros::Publisher
view_ptcloud_pub_
¶
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FloatingPoint
voxel_size_
¶
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int
voxels_per_side_
¶
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std::string
world_frame_
¶
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bool
generate_occupancy_
¶
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bool
visualize_
¶
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FloatingPoint
visualization_slice_level_
¶
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bool
generate_mesh_
¶
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bool
incremental_
¶
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bool
add_robot_pose_
¶
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FloatingPoint
truncation_distance_
¶
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FloatingPoint
esdf_max_distance_
¶
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size_t
max_attempts_to_generate_viewpoint_
¶
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Eigen::Vector2i
depth_camera_resolution_
¶
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FloatingPoint
fov_h_rad_
¶
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FloatingPoint
max_dist_
¶
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FloatingPoint
min_dist_
¶
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int
num_viewpoints_
¶
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SimulationWorld
world_
¶
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std::unique_ptr<Layer<OccupancyVoxel>>
occ_test_
¶
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std::unique_ptr<TsdfIntegratorBase>
tsdf_integrator_
¶
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std::unique_ptr<EsdfIntegrator>
esdf_integrator_
¶
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std::unique_ptr<OccupancyIntegrator>
occ_integrator_
¶
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std::unique_ptr<EsdfOccIntegrator>
esdf_occ_integrator_
¶
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