pyrobosim.sensors.lidar.Lidar2D

class pyrobosim.sensors.lidar.Lidar2D(*, update_rate_s: float, angle_units: str, min_angle: float, max_angle: float, angular_resolution: float, max_range_m: float)

Implements a simulated 2D lidar sensor.

Methods

__init__(*, update_rate_s, angle_units, ...)	Constructs a 2D lidar sensor instance.
get_display_coords()	Returns the coordinates of the lidar rays to currently display.
get_measurement()	Gets the latest sensor measurement.
setup_artists()	Sets up and returns the artists for visualizing the sensor.
thread_function()	Defines the sensor update function to run in a background thread.
to_dict()	Serializes the sensor to a dictionary.
update()	Performs the lidar calculation.
update_artists()	Updates the artists.

Attributes

plugin_name

The name of the plugin.