Struct PerceptionDomain 

pub struct PerceptionDomain {
    pub lidar: Option<Vec<LidarSensor>>,
    pub cameras: Option<Vec<CameraSensor>>,
    pub imu: Option<ImuSensor>,
    pub gps: Option<GpsSensor>,
    pub uwb: Option<UwbSensor>,
    pub detections: Option<Vec<Detection>>,
    pub detection_count: Option<u32>,
    pub environment: Option<EnvironmentPerception>,
    pub ultrasonics: Option<Vec<UltrasonicSensor>>,
    pub bumpers: Option<Vec<BumperSensor>>,
    pub cliff_sensors: Option<Vec<CliffSensor>>,
}

Perception domain containing sensor and detection data.

Fields

lidar: Option<Vec<LidarSensor>>

LiDAR sensor data

cameras: Option<Vec<CameraSensor>>

Camera sensor data

imu: Option<ImuSensor>

IMU sensor data

gps: Option<GpsSensor>

GPS sensor data

uwb: Option<UwbSensor>

Ultra-wideband sensor data

detections: Option<Vec<Detection>>

Object detections

detection_count: Option<u32>

Detection count

environment: Option<EnvironmentPerception>

Environment perception data

ultrasonics: Option<Vec<UltrasonicSensor>>

Ultrasonic sensors

bumpers: Option<Vec<BumperSensor>>

Bumper/contact sensors

cliff_sensors: Option<Vec<CliffSensor>>

Cliff sensors

Implementations

impl PerceptionDomain

pub fn with_lidar(sensor: LidarSensor) -> Self

Create with a LiDAR sensor.

pub fn with_detection(self, detection: Detection) -> Self

Add a detection.

pub fn with_imu(self, imu: ImuSensor) -> Self

Add IMU data.

pub fn with_gps(self, gps: GpsSensor) -> Self

Add GPS data.

Trait Implementations

impl Clone for PerceptionDomain

fn clone(&self) -> PerceptionDomain

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for PerceptionDomain

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for PerceptionDomain

fn default() -> PerceptionDomain

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for PerceptionDomain

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for PerceptionDomain

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Validate for PerceptionDomain

fn validate(&self) -> Result<(), ValidationErrors>

impl<'v_a> ValidateArgs<'v_a> for PerceptionDomain

type Args = ()

fn validate_with_args(&self, args: Self::Args) -> Result<(), ValidationErrors>