Add types for lidar visual

examples/lidar_visual/Main.cc

@@ -190,7 +190,20 @@ void buildScene(ScenePtr _scene)
   lidar->SetMaxVerticalAngle(vMaxAngle);
   lidar->SetMaxRange(maxRange);
   lidar->SetMinRange(minRange);
+
+  // the types can be set as follows:-
+  // LVT_POINTS -> Lidar Points at the range value
+  // LVT_RAY_LINES -> Lines along the lidar sensor to the obstacle
+  // LVT_TRIANGLE_STRIPS -> Coloured triangle strips denoting hitting and
+  // non-hitting parts of the scan
+  lidar->SetType(LidarVisualType::LVT_RAY_LINES);
   lidar->SetPoints(pts);
+
+  // set this value to false if only the rays that are hitting another obstacle
+  // are to be displayed.
+  // This does NOT work for LVT_TRIANGLE_STRIPS
+  lidar->SetDisplayNonHitting(false);
+
   lidar->SetWorldPosition(testPose.Pos());
   lidar->SetWorldRotation(testPose.Rot());
   root->AddChild(lidar);
@@ -266,4 +279,4 @@ int main(int _argc, char** _argv)
   }
   run(cameras);
   return 0;
-}
+}

include/ignition/rendering/LidarVisual.hh

@@ -32,6 +32,23 @@ namespace ignition
   namespace rendering
   {
     inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+    //
+    /// \brief Enum for LidarVisual types
+    enum IGNITION_RENDERING_VISIBLE LidarVisualType
+    {
+      /// \brief No type
+      LVT_NONE           = 0,
+
+      /// \brief Ray line visual
+      LVT_RAY_LINES     = 1,
+
+      /// \brief Points visual
+      LVT_POINTS         = 2,
+
+      /// \brief Triangle strips visual
+      LVT_TRIANGLE_STRIPS = 3
+    };
+
     /// \class LidarVisual LidarVisual.hh ignition/rendering/LidarVisual
     /// \brief A LidarVisual geometry class. The visual appearance is based
     /// on the type specified.
@@ -139,9 +156,25 @@ namespace ignition
       /// \brief Get the points in laser data
       /// \return The points in the laser data
       public: virtual std::vector<double> Points() const = 0;
+
+      /// \brief Set type for lidar visual
+      /// \param[in] _type The type of visualisation for lidar data
+      public: virtual void SetType(const LidarVisualType _type) = 0;
+
+      /// \brief Get the type for lidar visual
+      /// \return The type for lidar visual
+      public: virtual LidarVisualType Type() const = 0;
+
+      /// \brief Set if non-hitting rays will be displayed
+      /// (this does not work for TRIANGLE_STRIPS visual)
+      /// \param[in] _display Boolean value to display non hitting visuals
+      public: virtual void SetDisplayNonHitting(bool _display) = 0;
+
+      /// \brief Get if non-hitting rays will be displayed
+      /// \return Boolean value if non-hitting rays will be displayed
+      public: virtual bool DisplayNonHitting() const = 0;
     };
     }
   }
 }
-
 #endif

include/ignition/rendering/base/BaseLidarVisual.hh

@@ -127,9 +127,21 @@ namespace ignition
       // Documentation inherited
       public: virtual std::vector<double> Points() const override;
 
+      // Documentation inherited
+      public: virtual void SetType(const LidarVisualType _type) override;
+
+      // Documentation inherited
+      public: virtual LidarVisualType Type() const override;
+
       /// \brief Create predefined materials for lidar visual
       public: virtual void CreateMaterials();
 
+      // Documentation inherited
+      public: virtual void SetDisplayNonHitting(bool _display) override;
+
+      // Documentation inherited
+      public: virtual bool DisplayNonHitting() const override;
+
       /// \brief Vertical minimal angle
       protected: double minVerticalAngle = 0;
 
@@ -160,8 +172,15 @@ namespace ignition
       /// \brief Maximum Range
       protected: double maxRange = 0;
 
+      /// \brief Minimum Range
+      protected: bool displayNonHitting = true;
+
       /// \brief Offset of visual
       protected: ignition::math::Pose3d offset = ignition::math::Pose3d::Zero;
+
+      /// \brief Type of lidar visualisation
+      protected: LidarVisualType lidarVisualType =
+                      LidarVisualType::LVT_TRIANGLE_STRIPS;
     };
 
     /////////////////////////////////////////////////
@@ -386,6 +405,34 @@ namespace ignition
       return this->offset;
     }
 
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseLidarVisual<T>::SetType(const LidarVisualType _type)
+    {
+      this->lidarVisualType = _type;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    LidarVisualType BaseLidarVisual<T>::Type() const
+    {
+      return this->lidarVisualType;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseLidarVisual<T>::SetDisplayNonHitting(bool _display)
+    {
+      this->displayNonHitting = _display;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    bool BaseLidarVisual<T>::DisplayNonHitting() const
+    {
+      return this->displayNonHitting;
+    }
+
     /////////////////////////////////////////////////
     template <class T>
     void BaseLidarVisual<T>::CreateMaterials()