CARLA
GnssSensor.h
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1 // Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
2 // de Barcelona (UAB).
3 //
4 // This work is licensed under the terms of the MIT license.
5 // For a copy, see <https://opensource.org/licenses/MIT>.
6 
7 #pragma once
8 
9 #include "Carla/Sensor/Sensor.h"
10 
13 
15 #include "carla/geom/GeoLocation.h"
17 
18 #include "GnssSensor.generated.h"
19 
20 /// Gnss sensor representation
21 /// The actual position calculation is done one server side
22 UCLASS()
23 class CARLA_API AGnssSensor : public ASensor
24 {
25  GENERATED_BODY()
26 
27 public:
28 
29  AGnssSensor(const FObjectInitializer &ObjectInitializer);
30 
31  static FActorDefinition GetSensorDefinition();
32 
33  void Set(const FActorDescription &ActorDescription);
34 
35  // virtual void PrePhysTick(float DeltaSeconds) override;
36  virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds) override;
37 
38  void SetLatitudeDeviation(float Value);
39  void SetLongitudeDeviation(float Value);
40  void SetAltitudeDeviation(float Value);
41 
42  void SetLatitudeBias(float Value);
43  void SetLongitudeBias(float Value);
44  void SetAltitudeBias(float Value);
45 
46  float GetLatitudeDeviation() const;
47  float GetLongitudeDeviation() const;
48  float GetAltitudeDeviation() const;
49 
50  float GetLatitudeBias() const;
51  float GetLongitudeBias() const;
52  float GetAltitudeBias() const;
53 
54 protected:
55 
56  virtual void BeginPlay() override;
57 
58 private:
59 
61 
65 
66  float LatitudeBias;
68  float AltitudeBias;
69 };
A definition of a Carla Actor with all the variation and attributes.
carla::geom::GeoLocation CurrentGeoReference
Definition: GnssSensor.h:60
float LatitudeDeviation
Definition: GnssSensor.h:62
float LongitudeBias
Definition: GnssSensor.h:67
float AltitudeDeviation
Definition: GnssSensor.h:64
A description of a Carla Actor with all its variation.
Gnss sensor representation The actual position calculation is done one server side.
Definition: GnssSensor.h:23
float AltitudeBias
Definition: GnssSensor.h:68
float LongitudeDeviation
Definition: GnssSensor.h:63
float LatitudeBias
Definition: GnssSensor.h:66