irsim.world.sensors.fmcw_lidar2d
================================

.. py:module:: irsim.world.sensors.fmcw_lidar2d

.. autoapi-nested-parse::

   Simplified 2D FMCW LiDAR with per-beam radial Doppler velocity.



Classes
-------

.. autoapisummary::

   irsim.world.sensors.fmcw_lidar2d.FMCWLidar2D


Module Contents
---------------

.. py:class:: FMCWLidar2D(state: numpy.ndarray | None = None, obj_id: int = 0, motion_compensate: bool = False, velocity_noise_std: float = 0.0, **kwargs)

   Bases: :py:obj:`irsim.world.sensors.lidar2d.Lidar2D`


   Simulate a 2D FMCW LiDAR using ray intersections plus Doppler projection.

   This sensor keeps the geometric scanning model of :class:`Lidar2D` but replaces
   the optional Cartesian target velocity output with a scalar radial velocity for
   each beam. The radial velocity is defined along the beam direction and can be
   reported either in the sensor-relative frame or motion-compensated to the world
   frame.

   In addition to scan geometry parameters inherited from ``Lidar2D``, this sensor
   accepts:

   :param motion_compensate: When ``False``, report target velocity relative to
                             the sensor motion. When ``True``, remove the ego sensor motion and report
                             world-frame radial target velocity.
   :type motion_compensate: bool
   :param velocity_noise_std: Standard deviation of Gaussian noise applied to
                              radial velocity measurements.
   :type velocity_noise_std: float
   :param velocity_color: Whether to color beams by radial velocity when
                          plotting.
   :type velocity_color: bool
   :param velocity_color_max: Magnitude at which the plotting color saturates.
   :type velocity_color_max: float
   :param velocity_linewidth: Line width for valid Doppler beams.
   :type velocity_linewidth: float
   :param no_hit_linewidth: Line width for beams without valid returns.
   :type no_hit_linewidth: float
   :param no_hit_alpha: Alpha for invalid beams in plots.
   :type no_hit_alpha: float
   :param show_velocity_markers: Whether to draw colored endpoint markers for
                                 valid returns.
   :type show_velocity_markers: bool
   :param velocity_marker_size: Scatter marker size for valid endpoints.
   :type velocity_marker_size: float
   :param zero_velocity_color: Plot color used near zero radial velocity.
   :type zero_velocity_color: str
   :param positive_velocity_color: Plot color used for positive radial velocity.
   :type positive_velocity_color: str
   :param negative_velocity_color: Plot color used for negative radial velocity.
   :type negative_velocity_color: str
   :param no_hit_color: Plot color used for invalid beams.
   :type no_hit_color: str

   Initialize the Lidar2D sensor.




   .. py:attribute:: sensor_type
      :value: 'fmcw_lidar2d'



   .. py:attribute:: motion_compensate
      :value: False



   .. py:attribute:: velocity_noise_std
      :value: 0.0



   .. py:attribute:: velocity_color


   .. py:attribute:: velocity_color_max


   .. py:attribute:: velocity_linewidth


   .. py:attribute:: no_hit_linewidth


   .. py:attribute:: no_hit_alpha


   .. py:attribute:: show_velocity_markers


   .. py:attribute:: velocity_marker_size


   .. py:attribute:: velocity_marker_edge_color


   .. py:attribute:: velocity_marker_edge_width


   .. py:attribute:: zero_velocity_color


   .. py:attribute:: positive_velocity_color


   .. py:attribute:: negative_velocity_color


   .. py:attribute:: no_hit_color


   .. py:attribute:: radial_velocity


   .. py:attribute:: valid


   .. py:method:: step(state)

      Update ranges, validity flags, and radial velocities for every beam.



   .. py:method:: get_scan()

      Get the FMCW scan with radial velocity and validity per beam.

      :returns:

                Scan dictionary containing the standard LiDAR angular metadata plus
                    ``ranges``, ``radial_velocity``, ``valid``, and ``intensities=None``.
      :rtype: dict