[NodeCategory("Controller", "Lidar Controller", NodeTick.Synchronous, (LifeCycle)0, 0, NodeMode.Standard, false)]
public class LidarController : NodeRuntime

Fields

Name	Description
_fireIdxToBeamIdx	A buffer mapping an index in the sorted firing sequence to a beam index in the laser config.
_firstBeam	The frame index, trigger index and beam index of the next trigger event in a full revolution.
_frameStart	The time in the current frame, normalized so that one unit is one frame. Can be negative.
_isTriggerPeriodChanged	Specifies that something change the trigger period. Everything dependent to it should be updated.
_samplingRequest	This structure is used to send sampling request to a photosensor
_sortedFiringSequence	Gives the delay for each beam to fire when it's time to sample the simulation, in chronological order.
_triggerSequence	This buffer describe when the photosensor will launch a firing sequence. Sorted in chronological order.
frameHeight
frameWidth
horizontalFoV
laserConfig	Contain all information relative to the laser configuration (orientation, offsets and firing sequence)
laserConfigBinding	Define where the beam are positioned, oriented and their firing sequence.
motorSpeed
rotationRate
samplingRate
samplingRequest

Properties

Name	Description
BeamCount	The number of fired beams per trigger.
FiringSequence	Return the firing sequence out of the laser configuration, sorted in output (elevation) order.
FramePeriod	The time, in seconds, between consecutive frames.
HorizontalFoVRatio	The fraction of the horizontal field-of-view covered by the lidar, in (0, 1].
MotorSpeed	Speed, in rotations per minute (RPM).
TriggerCount	The number of triggers per frame.
TriggerPeriod	The time, in seconds, between consecutive triggers.

Methods

Name	Description
AreInputsValid()	Determines if the inputs value allow execution of an OnTick call.
Disable()	Disable change event on ports
Enable(ClockState)	Initialize the controller and enable change event on beams port.
GenerateOutputs(double, double)	Generates the sampling request between the two given times, and write all outputs.
OnLaserConfigChanged(object, EventArgs)	Indicates the laser configuration has changed for the next OnTick call.
OnTick(double, double, ClockState, Signal)	OnTick event received from the scheduler for this node waveform. This is received for every rising edge of the waveform at the frequency configured in the scheduler.
ResetIfNeeded()	Resets the internal state of the controller if any input has changed, to stay consistent.
SetTriggerPeriodChanged()	Indicates any input affecting the firing sequence computation has changed for the next OnTick call.