CARLA
RayTracer.h
Go to the documentation of this file.
1 // Copyright (c) 2020 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 "Kismet/BlueprintFunctionLibrary.h"
10 
12 #include "carla/rpc/ObjectLabel.h"
15 
16 #include <vector>
17 #include <utility>
18 
19 #include "RayTracer.generated.h"
20 
21 class AActor;
22 
23 UCLASS()
24 class CARLA_API URayTracer : public UBlueprintFunctionLibrary
25 {
26  GENERATED_BODY()
27 
28 public:
29 
30  static std::vector<carla::rpc::LabelledPoint> CastRay(
31  FVector StartLocation, FVector EndLocation, UWorld * World);
32 
33  static std::pair<bool, carla::rpc::LabelledPoint> ProjectPoint(
34  FVector StartLocation, FVector Direction, float MaxDistance, UWorld * World);
35 
36 };