Class TLaserRangeFinder

DescriptionHierarchyFieldsMethodsProperties

Unit

LaserRangeFinder

Declaration

type TLaserRangeFinder = class(TSensor)

Description

Class implementing a 2D laser range finder.

Hierarchy

TLaserRangeFinder > TSensor > TTenaciousObject > TPersistent

Methods

Overview

Public constructor Create(SensorParameters: TSensorParameters); override;
Public constructor Create; override;
Public constructor CreateAndSet(Sensor: TSensor); override;
Public destructor Destroy; override;
Public procedure ComputeAngles(var LineMinAngle, LineMaxAngle: real; CornerCoordinatePairs: TMatrix; j: integer);
Public function Copy: TSensor; override;
Public function GetDistanceToLineAlongRay(gamma, singamma, cosgamma, x1, y1, x2, y2: real): real;
Public function GetDistanceToNearestObject(Gamma, SinGamma, CosGamma: real): real;
Public procedure LoadFromDefinition(ObjDef: TObjectDefinition); override;
Public procedure Reset; override;
Public procedure SetGlobalPosition(GlobalPosition: TVector);
Public procedure SetRange(Range: real);
Public procedure UpdateReading(Arena: TArena); override;

Description

Public constructor Create(SensorParameters: TSensorParameters); override;
 
Public constructor Create; override;
 
Public constructor CreateAndSet(Sensor: TSensor); override;
 
Public destructor Destroy; override;
 
Public procedure ComputeAngles(var LineMinAngle, LineMaxAngle: real; CornerCoordinatePairs: TMatrix; j: integer);
 
Public function Copy: TSensor; override;
 
Public function GetDistanceToLineAlongRay(gamma, singamma, cosgamma, x1, y1, x2, y2: real): real;
 
Public function GetDistanceToNearestObject(Gamma, SinGamma, CosGamma: real): real;
 
Public procedure LoadFromDefinition(ObjDef: TObjectDefinition); override;
 
Public procedure Reset; override;
 
Public procedure SetGlobalPosition(GlobalPosition: TVector);
 
Public procedure SetRange(Range: real);
 
Public procedure UpdateReading(Arena: TArena); override;
 

Properties

Overview

Public property MaxRelativeAngle: real;
Public property MinRelativeAngle: real;
Public property NumberOfRaysPerSweep: integer;
Public property Range: real;
Public property RayAngles: TVector;
Public property SweepDirection: integer;

Description

Public property MaxRelativeAngle: real;
 
Public property MinRelativeAngle: real;
 
Public property NumberOfRaysPerSweep: integer;
 
Public property Range: real;
 
Public property RayAngles: TVector;
 
Public property SweepDirection: integer;
 
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