Namespace Marus.Sensors

Classes

CameraSensor

CameraSensorROS

Camera sensor implementation

LidarConfig

Class containing all needed lidar properties.

RaycastJobHelper

RaycastJobHelper<T>

RaycastLidar

Lidar implemented using rays Implemented using IJobParallelFor on CPU Can drop performance

RaycastLidarPointCloud2ROS

Lidar that cast N rays evenly distributed in configured field of view. Implemented using IJobParallelFor on CPU Can drop performance

RaycastLidarROS

Lidar that cast N rays evenly distributed in configured field of view. Implemented using IJobParallelFor on CPU Can drop performance

RayInterval

Ray interval definition

SensorBase

SensorCallback

Data class for sensor callback definition

SensorSampler

SensorStreamer<TClient, TMsg>

Base class that every sensor has to implement Sensor streams readings to the server defined in RosConnection singleton instance

Sonar2D

Lidar that cast N rays evenly distributed in configured field of view. Implemented using IJobParallelFor on CPU Can drop performance

Sonar3D

Sonar that cast N rays evenly distributed in configured field of view. Implemented using IJobParallelFor on CPU Can drop performance

Structs

LidarReading

RaycastJobHelper<T>.CreateRaycastCommandsJob

RaycastJobHelper<T>.ReadbackDataJob

SonarReading

Enums

RayDefinitionType

Uniform - rays are distributed uniformly Intervals - rays are distributed based on given angle intervals with number of rays Angles - rays are distributed based on given angles of vertical rays