Struct jalansim::range::RayMarching

template <typename T>

ClassList > jalansim > range > RayMarching

Ray marching-based range sensing algorithm. More...

• #include <ray_marching.hpp>

Public Attributes

Type	Name
const T	clearance_threshold = T(0.1) Threshold for obstacle detection.

Public Static Functions

Type	Name
JALANSIM_HOST_DEVICE T	map_calc_range (const jalansim::map::Map< T > * map, T ox, T oy, T oa, T max_range) Calculate range using ray marching algorithm.

Detailed Description

Implements range sensing using adaptive step size ray marching through a distance field map. Uses the signed distance field to accelerate computation by taking larger steps in free space and smaller steps near obstacles. Provides accurate range measurements with efficient computation, especially in environments with precomputed distance fields.

Template parameters:

• T Numeric type for range calculations (default: double)

Public Attributes Documentation

variable clearance_threshold

Threshold for obstacle detection.

const T jalansim::range::RayMarching< T >::clearance_threshold;

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Public Static Functions Documentation

function map_calc_range

Calculate range using ray marching algorithm.

static inline JALANSIM_HOST_DEVICE T jalansim::range::RayMarching::map_calc_range (
    const jalansim::map::Map < T > * map,
    T ox,
    T oy,
    T oa,
    T max_range
) 

Marches a ray from the origin in the specified direction until an obstacle is encountered or maximum range is reached. Uses adaptive step sizing based on the distance field for efficiency.

Parameters:

• map Pointer to the occupancy grid map with distance field
• ox Origin X coordinate in world frame

• oy Origin Y coordinate in world frame

• oa Ray direction angle in radians

• max_range Maximum sensing range

Returns:

Distance to nearest obstacle or max_range if no obstacle found

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The documentation for this class was generated from the following file include/jalansim/range/ray_marching.hpp