ASensorSpawnerActor Class Reference

#include <SensorSpawnerActor.h>

Inheritance diagram for ASensorSpawnerActor:

Public Member Functions
	ASensorSpawnerActor ()
void	SpawnSensors ()
void	StartRecordingSensorData ()
void	StopRecordingSensorData ()
void	ToggleRadarVisibility ()

Protected Member Functions
virtual void	BeginPlay () override
virtual void	Tick (float DeltaSeconds) override

Protected Attributes
TSubclassOf< AActor >	AttachActorClass
bool	bSaveDataAtBeginPlay = false
float	DelayBetweenSpawns = 0.f
float	InitialDelay = 4.f
FVector	MaxSpawnLocation {-110000.f, -100000.f, 9600.f}
FVector	MinSpawnLocation {-120000.f, -110000.f, 9300.f}
float	PointSize = 15.0f
FString	SaveImagePath
TObjectPtr< USceneComponent >	SceneComp
TSubclassOf< class ASensor >	SensorClassToCapture
TArray< FSensorTuple >	SensorsToSpawn
float	VelocityRange = 0.075

Private Member Functions
void	AddSensorToSaveDataArray (AActor *Actor)
void	AttachSensorToActor (AActor *SensorActor)
void	DrawRadarSensorPoints () const
void	GenerateSensorActorDescription (const FActorDefinition *Definition, FActorDescription &SensorDescription) const
const FActorDefinition *	GetActorDefinitionByClass (const TSubclassOf< AActor > ActorClass) const
void	GetRandomTransform (FTransform &Transform) const
void	OnEpisodeInitialised (UCarlaEpisode *InitialisedEpisode)
void	SaveSensorData (float DeltaSeconds)
void	SpawnSensorActor (const FActorDescription &SensorDescription, bool bAttachToActor)
void	SpawnSensorsDelayed ()

Private Attributes
bool	bRadarVisibility = false
bool	bRecordingData = false
TObjectPtr< UCarlaEpisode >	CarlaEpisode
FTimerHandle	InitialDelaySpawnTimerHandle
TArray< FSensorTuple >	SensorsToSpawnCopy
TArray< TObjectPtr< ASensor > >	SpawnedSensorsArray
FTimerHandle	SpawnSensorsDelayedTimerHandle

Detailed Description

Definition at line 38 of file SensorSpawnerActor.h.

Constructor & Destructor Documentation

ASensorSpawnerActor()

ASensorSpawnerActor::ASensorSpawnerActor

(

)

Definition at line 21 of file SensorSpawnerActor.cpp.

References SaveImagePath, SceneComp, and SensorClassToCapture.

Member Function Documentation

AddSensorToSaveDataArray()

void ASensorSpawnerActor::AddSensorToSaveDataArray ( AActor *  Actor )

private

Definition at line 208 of file SensorSpawnerActor.cpp.

References bRecordingData, SensorClassToCapture, and SpawnedSensorsArray.

Referenced by SpawnSensorActor().

AttachSensorToActor()

void ASensorSpawnerActor::AttachSensorToActor ( AActor *  SensorActor )

private

Definition at line 279 of file SensorSpawnerActor.cpp.

References AttachActorClass.

Referenced by SpawnSensorActor().

BeginPlay()

void ASensorSpawnerActor::BeginPlay ( )

overrideprotectedvirtual

Definition at line 33 of file SensorSpawnerActor.cpp.

References bRecordingData, bSaveDataAtBeginPlay, OnEpisodeInitialised(), and SaveImagePath.

DrawRadarSensorPoints()

void ASensorSpawnerActor::DrawRadarSensorPoints ( ) const

private

Definition at line 294 of file SensorSpawnerActor.cpp.

References PointSize, SpawnedSensorsArray, and VelocityRange.

Referenced by Tick().

GenerateSensorActorDescription()

void ASensorSpawnerActor::GenerateSensorActorDescription ( const FActorDefinition *  Definition, FActorDescription &  SensorDescription  ) const

private

Definition at line 156 of file SensorSpawnerActor.cpp.

References FActorDefinition::Class, FActorDescription::Class, FActorAttribute::Id, FActorDefinition::Id, FActorDescription::Id, FActorAttribute::Type, FActorDefinition::UId, FActorDescription::UId, FActorAttribute::Value, FActorDefinition::Variations, and FActorDescription::Variations.

Referenced by SpawnSensors(), and SpawnSensorsDelayed().

GetActorDefinitionByClass()

const FActorDefinition * ASensorSpawnerActor::GetActorDefinitionByClass ( const TSubclassOf< AActor >  ActorClass ) const

private

Definition at line 120 of file SensorSpawnerActor.cpp.

References CarlaEpisode, FActorDefinition::Class, and IsValid().

Referenced by SpawnSensors(), and SpawnSensorsDelayed().

GetRandomTransform()

void ASensorSpawnerActor::GetRandomTransform ( FTransform &  Transform ) const

private

Definition at line 176 of file SensorSpawnerActor.cpp.

References MaxSpawnLocation, and MinSpawnLocation.

Referenced by SpawnSensorActor().

OnEpisodeInitialised()

void ASensorSpawnerActor::OnEpisodeInitialised ( UCarlaEpisode *  InitialisedEpisode )

private

Definition at line 47 of file SensorSpawnerActor.cpp.

References CarlaEpisode, InitialDelay, InitialDelaySpawnTimerHandle, IsValid(), and SpawnSensors().

Referenced by BeginPlay().

SaveSensorData()

void ASensorSpawnerActor::SaveSensorData ( float  DeltaSeconds )

private

Definition at line 235 of file SensorSpawnerActor.cpp.

References FCarlaEngine::GetFrameCounter(), UJsonFileManagerLibrary::SaveGnssDataToJson(), SaveImagePath, UJsonFileManagerLibrary::SaveIMUDataToJson(), UJsonFileManagerLibrary::SaveLidarDataToPly(), UJsonFileManagerLibrary::SaveRadarDataToJson(), and SpawnedSensorsArray.

Referenced by Tick().

SpawnSensorActor()

void ASensorSpawnerActor::SpawnSensorActor ( const FActorDescription &  SensorDescription, bool  bAttachToActor  )

private

Definition at line 134 of file SensorSpawnerActor.cpp.

References AddSensorToSaveDataArray(), AttachSensorToActor(), CarlaEpisode, GetRandomTransform(), and IsValid().

Referenced by SpawnSensors(), and SpawnSensorsDelayed().

SpawnSensors()

void ASensorSpawnerActor::SpawnSensors

(

)

Definition at line 58 of file SensorSpawnerActor.cpp.

References DelayBetweenSpawns, GenerateSensorActorDescription(), GetActorDefinitionByClass(), SensorsToSpawn, SensorsToSpawnCopy, SpawnSensorActor(), SpawnSensorsDelayed(), and SpawnSensorsDelayedTimerHandle.

Referenced by OnEpisodeInitialised().

SpawnSensorsDelayed()

void ASensorSpawnerActor::SpawnSensorsDelayed ( )

private

Definition at line 185 of file SensorSpawnerActor.cpp.

References GenerateSensorActorDescription(), GetActorDefinitionByClass(), SensorsToSpawnCopy, SpawnSensorActor(), and SpawnSensorsDelayedTimerHandle.

Referenced by SpawnSensors().

StartRecordingSensorData()

void ASensorSpawnerActor::StartRecordingSensorData

(

)

Definition at line 89 of file SensorSpawnerActor.cpp.

References bRecordingData, and SpawnedSensorsArray.

StopRecordingSensorData()

void ASensorSpawnerActor::StopRecordingSensorData

(

)

Definition at line 102 of file SensorSpawnerActor.cpp.

References bRecordingData, and SpawnedSensorsArray.

Tick()

void ASensorSpawnerActor::Tick ( float  DeltaSeconds )

overrideprotectedvirtual

Definition at line 220 of file SensorSpawnerActor.cpp.

References bRadarVisibility, bRecordingData, DrawRadarSensorPoints(), SaveSensorData(), and Tick().

Referenced by Tick().

ToggleRadarVisibility()

void ASensorSpawnerActor::ToggleRadarVisibility

(

)

Definition at line 115 of file SensorSpawnerActor.cpp.

References bRadarVisibility.

Member Data Documentation

AttachActorClass

TSubclassOf<AActor> ASensorSpawnerActor::AttachActorClass

protected

Definition at line 74 of file SensorSpawnerActor.h.

Referenced by AttachSensorToActor().

bRadarVisibility

bool ASensorSpawnerActor::bRadarVisibility = false

private

Definition at line 116 of file SensorSpawnerActor.h.

Referenced by Tick(), and ToggleRadarVisibility().

bRecordingData

bool ASensorSpawnerActor::bRecordingData = false

private

Definition at line 114 of file SensorSpawnerActor.h.

Referenced by AddSensorToSaveDataArray(), BeginPlay(), StartRecordingSensorData(), StopRecordingSensorData(), and Tick().

bSaveDataAtBeginPlay

bool ASensorSpawnerActor::bSaveDataAtBeginPlay = false

protected

Definition at line 94 of file SensorSpawnerActor.h.

Referenced by BeginPlay().

CarlaEpisode

TObjectPtr<UCarlaEpisode> ASensorSpawnerActor::CarlaEpisode

private

Definition at line 142 of file SensorSpawnerActor.h.

Referenced by GetActorDefinitionByClass(), OnEpisodeInitialised(), and SpawnSensorActor().

DelayBetweenSpawns

float ASensorSpawnerActor::DelayBetweenSpawns = 0.f

protected

Definition at line 82 of file SensorSpawnerActor.h.

Referenced by SpawnSensors().

InitialDelay

float ASensorSpawnerActor::InitialDelay = 4.f

protected

Definition at line 78 of file SensorSpawnerActor.h.

Referenced by OnEpisodeInitialised().

InitialDelaySpawnTimerHandle

FTimerHandle ASensorSpawnerActor::InitialDelaySpawnTimerHandle

private

Definition at line 144 of file SensorSpawnerActor.h.

Referenced by OnEpisodeInitialised().

MaxSpawnLocation

FVector ASensorSpawnerActor::MaxSpawnLocation {-110000.f, -100000.f, 9600.f}

protected

Definition at line 86 of file SensorSpawnerActor.h.

Referenced by GetRandomTransform().

MinSpawnLocation

FVector ASensorSpawnerActor::MinSpawnLocation {-120000.f, -110000.f, 9300.f}

protected

Definition at line 90 of file SensorSpawnerActor.h.

Referenced by GetRandomTransform().

PointSize

float ASensorSpawnerActor::PointSize = 15.0f

protected

Definition at line 109 of file SensorSpawnerActor.h.

Referenced by DrawRadarSensorPoints().

SaveImagePath

FString ASensorSpawnerActor::SaveImagePath

protected

Definition at line 102 of file SensorSpawnerActor.h.

Referenced by ASensorSpawnerActor(), BeginPlay(), and SaveSensorData().

SceneComp

TObjectPtr<USceneComponent> ASensorSpawnerActor::SceneComp

protected

Definition at line 66 of file SensorSpawnerActor.h.

Referenced by ASensorSpawnerActor().

SensorClassToCapture

TSubclassOf<class ASensor> ASensorSpawnerActor::SensorClassToCapture

protected

Definition at line 98 of file SensorSpawnerActor.h.

Referenced by AddSensorToSaveDataArray(), and ASensorSpawnerActor().

SensorsToSpawn

TArray<FSensorTuple> ASensorSpawnerActor::SensorsToSpawn

protected

Definition at line 70 of file SensorSpawnerActor.h.

Referenced by SpawnSensors().

SensorsToSpawnCopy

TArray<FSensorTuple> ASensorSpawnerActor::SensorsToSpawnCopy

private

Definition at line 150 of file SensorSpawnerActor.h.

Referenced by SpawnSensors(), and SpawnSensorsDelayed().

SpawnedSensorsArray

TArray<TObjectPtr<ASensor> > ASensorSpawnerActor::SpawnedSensorsArray

private

Definition at line 154 of file SensorSpawnerActor.h.

Referenced by AddSensorToSaveDataArray(), DrawRadarSensorPoints(), SaveSensorData(), StartRecordingSensorData(), and StopRecordingSensorData().

SpawnSensorsDelayedTimerHandle

FTimerHandle ASensorSpawnerActor::SpawnSensorsDelayedTimerHandle

private

Definition at line 147 of file SensorSpawnerActor.h.

Referenced by SpawnSensors(), and SpawnSensorsDelayed().

VelocityRange

float ASensorSpawnerActor::VelocityRange = 0.075

protected

Definition at line 106 of file SensorSpawnerActor.h.

Referenced by DrawRadarSensorPoints().

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The documentation for this class was generated from the following files:

• SensorSpawnerActor.h
• SensorSpawnerActor.cpp