us.ihmc.utilities.lidar.polarLidar.geometry
Class LIDARScanDefinition

java.lang.Object
  extended by java.util.AbstractCollection<E>
      extended by java.util.AbstractList<E>
          extended by java.util.ArrayList<Ray3d>
              extended by us.ihmc.utilities.lidar.polarLidar.geometry.LIDARScanDefinition
All Implemented Interfaces:
java.io.Serializable, java.lang.Cloneable, java.lang.Iterable<Ray3d>, java.util.Collection<Ray3d>, java.util.List<Ray3d>, java.util.RandomAccess

public class LIDARScanDefinition
extends java.util.ArrayList<Ray3d>

See Also:
Serialized Form

Constructor Summary
LIDARScanDefinition()
           
LIDARScanDefinition(java.util.ArrayList<Ray3d> rays)
           
 
Method Summary
 void applyTransform(javax.media.j3d.Transform3D transform)
           
static LIDARScanDefinition defineSimplifiedNoddingLIDARScan(double lidarVerticalScanAngle, int lidarSweepsPerScan, double lidarHorizontalScanAngle, int lidarPointsPerSweep, double minDist)
           
static LIDARScanDefinition defineSimplifiedNoddingLIDARScan(int pointsPerSweep, int sweepsPerScan, double sweepYawMax, double sweepYawMin, double scanPitchMax, double scanPitchMin, double minDist)
           
 java.util.ArrayList<Ray3d> getRayListInGlobalCoordinates(javax.media.j3d.Transform3D transformToGlobalCoordinates)
           
static LIDARScanDefinition makeDefaultLidarLIDARScanDefinition()
           
static LIDARScanDefinition PlanarSweep(double scanYawMax, double scanYawMin, int horizontalScanResolution, double minDist)
           
static LIDARScanDefinition PlanarSweep(double xFieldOfView, int xAngularResolution)
           
static LIDARScanDefinition PlanarSweep(double xFieldOfView, int xAngularResolution, double minDist)
           
static LIDARScanDefinition viewFrustumLIDARScanDefinition(double xFieldOfView, int xResolution, int yResolution)
           
static LIDARScanDefinition xFacingViewFrustumLIDARScanDefinition(double xFieldOfView, int xResolution, int yResolution)
           
 
Methods inherited from class java.util.ArrayList
add, add, addAll, addAll, clear, clone, contains, ensureCapacity, get, indexOf, isEmpty, lastIndexOf, remove, remove, set, size, toArray, toArray, trimToSize
 
Methods inherited from class java.util.AbstractList
equals, hashCode, iterator, listIterator, listIterator, subList
 
Methods inherited from class java.util.AbstractCollection
containsAll, removeAll, retainAll, toString
 
Methods inherited from class java.lang.Object
getClass, notify, notifyAll, wait, wait, wait
 
Methods inherited from interface java.util.List
containsAll, equals, hashCode, iterator, listIterator, listIterator, removeAll, retainAll, subList
 

Constructor Detail

LIDARScanDefinition

public LIDARScanDefinition()

LIDARScanDefinition

public LIDARScanDefinition(java.util.ArrayList<Ray3d> rays)
Method Detail

makeDefaultLidarLIDARScanDefinition

public static LIDARScanDefinition makeDefaultLidarLIDARScanDefinition()

viewFrustumLIDARScanDefinition

public static LIDARScanDefinition viewFrustumLIDARScanDefinition(double xFieldOfView,
                                                                 int xResolution,
                                                                 int yResolution)

PlanarSweep

public static LIDARScanDefinition PlanarSweep(double xFieldOfView,
                                              int xAngularResolution)

PlanarSweep

public static LIDARScanDefinition PlanarSweep(double xFieldOfView,
                                              int xAngularResolution,
                                              double minDist)

PlanarSweep

public static LIDARScanDefinition PlanarSweep(double scanYawMax,
                                              double scanYawMin,
                                              int horizontalScanResolution,
                                              double minDist)

xFacingViewFrustumLIDARScanDefinition

public static LIDARScanDefinition xFacingViewFrustumLIDARScanDefinition(double xFieldOfView,
                                                                        int xResolution,
                                                                        int yResolution)

applyTransform

public void applyTransform(javax.media.j3d.Transform3D transform)

getRayListInGlobalCoordinates

public java.util.ArrayList<Ray3d> getRayListInGlobalCoordinates(javax.media.j3d.Transform3D transformToGlobalCoordinates)

defineSimplifiedNoddingLIDARScan

public static LIDARScanDefinition defineSimplifiedNoddingLIDARScan(double lidarVerticalScanAngle,
                                                                   int lidarSweepsPerScan,
                                                                   double lidarHorizontalScanAngle,
                                                                   int lidarPointsPerSweep,
                                                                   double minDist)

defineSimplifiedNoddingLIDARScan

public static LIDARScanDefinition defineSimplifiedNoddingLIDARScan(int pointsPerSweep,
                                                                   int sweepsPerScan,
                                                                   double sweepYawMax,
                                                                   double sweepYawMin,
                                                                   double scanPitchMax,
                                                                   double scanPitchMin,
                                                                   double minDist)