Base class for sensors. More...

#include <Sensor.h>

Inheritance diagram for ASensor:

Collaboration diagram for ASensor:

Public Member Functions
	ASensor (const FObjectInitializer &ObjectInitializer)

virtual void	BeginPlay ()

boost::optional< FActorAttribute >	GetAttribute (const FString Name)

const UCarlaEpisode &	GetEpisode () const

URandomEngine *	GetRandomEngine ()

int32	GetSeed () const

auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream. More...

bool	IsStreamReady ()

FDataStream	MoveDataStream ()

virtual void	OnFirstClientConnected ()

virtual void	OnLastClientDisconnected ()

virtual void	PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)

void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)

virtual void	PrePhysTick (float DeltaSeconds)

virtual void	Set (const FActorDescription &Description)

void	SetDataStream (FDataStream InStream)
	Replace the FDataStream associated with this sensor. More...

void	SetEpisode (const UCarlaEpisode &InEpisode)

void	SetSeed (int32 InSeed)

void	Tick (const float DeltaTime) final

Protected Member Functions
void	EndPlay (EEndPlayReason::Type EndPlayReason) override

template<typename SensorT >
FAsyncDataStream	GetDataStream (const SensorT &Self)
	Return the FDataStream associated with this sensor. More...

void	PostActorCreated () override

Protected Attributes
bool	bIsActive = false

URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output. More...

int32	Seed = 123456789
	Seed of the pseudo-random engine. More...

Private Attributes
bool	bClientsListening = false

const UCarlaEpisode *	Episode = nullptr

FDelegateHandle	OnPostTickDelegate

bool	ReadyToTick = false
	Allows the sensor to tick with the tick rate from UE4. More...

FActorDescription	SensorDescription

FDataStream	Stream

Detailed Description

Base class for sensors.

Definition at line 23 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Constructor & Destructor Documentation

◆ ASensor()

ASensor::ASensor ( const FObjectInitializer & ObjectInitializer )

Definition at line 17 of file Sensor.cpp.

Member Function Documentation

◆ BeginPlay()

void ASensor::BeginPlay ( )

virtual

Reimplemented in ASceneCaptureSensor, AInertialMeasurementUnit, AGnssSensor, ARadar, and ASceneCaptureCamera.

Definition at line 27 of file Sensor.cpp.

References Episode, UCarlaStatics::GetCurrentEpisode(), UCarlaEpisode::GetSensorManager(), and FSensorManager::RegisterSensor().

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◆ EndPlay()

void ASensor::EndPlay ( EEndPlayReason::Type EndPlayReason )

overrideprotected

Definition at line 113 of file Sensor.cpp.

References FSensorManager::DeRegisterSensor(), Episode, UCarlaStatics::GetCurrentEpisode(), GetEpisode(), UCarlaStatics::GetGameInstance(), UCarlaEpisode::GetSensorManager(), FDataStreamTmpl< T >::GetToken(), and Stream.

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◆ GetAttribute()

boost::optional< FActorAttribute > ASensor::GetAttribute ( const FString Name )

Definition at line 49 of file Sensor.cpp.

References SensorDescription, and FActorDescription::Variations.

Referenced by ADVSCamera::PostPhysTick().

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◆ GetDataStream()

template<typename SensorT >

FAsyncDataStream ASensor::GetDataStream ( const SensorT & Self )

inlineprotected

Return the FDataStream associated with this sensor.

You need to provide a reference to self, this is necessary for template deduction.

Definition at line 110 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by ACollisionSensor::OnCollisionEvent(), AObstacleDetectionSensor::OnObstacleDetectionEvent(), AGnssSensor::PostPhysTick(), AInertialMeasurementUnit::PostPhysTick(), ARayCastLidar::PostPhysTick(), ARayCastSemanticLidar::PostPhysTick(), ARadar::PostPhysTick(), and ADVSCamera::PostPhysTick().

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◆ GetEpisode()

const UCarlaEpisode& ASensor::GetEpisode ( ) const

inline

Definition at line 93 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by ASceneCaptureSensor::BeginPlay(), ARayCastSemanticLidar::ComputeRawDetection(), EndPlay(), ACollisionSensor::OnCollisionEvent(), AObstacleDetectionSensor::OnObstacleDetectionEvent(), and ADVSCamera::Simulation().

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◆ GetRandomEngine()

URandomEngine* ASensor::GetRandomEngine ( )

inline

Definition at line 79 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by UActorBlueprintFunctionLibrary::SetGnss(), UActorBlueprintFunctionLibrary::SetIMU(), and UActorBlueprintFunctionLibrary::SetRadar().

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◆ GetSeed()

int32 ASensor::GetSeed ( ) const

inline

Definition at line 85 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

◆ GetToken()

auto ASensor::GetToken ( ) const

inline

Return the token that allows subscribing to this sensor's stream.

Definition at line 56 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by FActorRegistry::GetDescriptionFromStream(), ACollisionSensor::OnCollisionEvent(), AObstacleDetectionSensor::OnObstacleDetectionEvent(), AGnssSensor::PostPhysTick(), AInertialMeasurementUnit::PostPhysTick(), ARayCastLidar::PostPhysTick(), ARayCastSemanticLidar::PostPhysTick(), ARadar::PostPhysTick(), and ADVSCamera::PostPhysTick().

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◆ IsStreamReady()

bool ASensor::IsStreamReady ( )

inline

Definition at line 61 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by AObstacleDetectionSensor::OnObstacleDetectionEvent().

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◆ MoveDataStream()

FDataStream ASensor::MoveDataStream ( )

inline

Definition at line 50 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by FActorSensorData::RecordActorData().

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◆ OnFirstClientConnected()

virtual void ASensor::OnFirstClientConnected ( )

inlinevirtual

Reimplemented in ASceneCaptureCamera.

Definition at line 71 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by Tick().

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◆ OnLastClientDisconnected()

virtual void ASensor::OnLastClientDisconnected ( )

inlinevirtual

Reimplemented in ASceneCaptureCamera.

Definition at line 73 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by Tick().

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◆ PostActorCreated()

void ASensor::PostActorCreated ( )

overrideprotected

Definition at line 94 of file Sensor.cpp.

◆ PostPhysTick()

virtual void ASensor::PostPhysTick	(	UWorld *	World,
		ELevelTick	TickType,
		float	DeltaSeconds
	)

inlinevirtual

Reimplemented in ASceneCaptureSensor, ADVSCamera, ARadar, ARayCastSemanticLidar, ARayCastLidar, AInertialMeasurementUnit, AGnssSensor, ASceneCaptureCamera, AInstanceSegmentationCamera, AObstacleDetectionSensor, ADepthCamera, ANormalsCamera, ASemanticSegmentationCamera, and AOpticalFlowCamera.

Definition at line 69 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by PostPhysTickInternal().

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◆ PostPhysTickInternal()

void ASensor::PostPhysTickInternal	(	UWorld *	World,
		ELevelTick	TickType,
		float	DeltaSeconds
	)

Definition at line 131 of file Sensor.cpp.

References PostPhysTick(), and ReadyToTick.

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◆ PrePhysTick()

virtual void ASensor::PrePhysTick ( float DeltaSeconds )

inlinevirtual

Reimplemented in ASceneCaptureSensor.

Definition at line 68 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by Tick().

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◆ Set()

void ASensor::Set ( const FActorDescription & Description )

virtual

Reimplemented in ASceneCaptureSensor, AShaderBasedSensor, ADVSCamera, ARayCastSemanticLidar, ARayCastLidar, AGnssSensor, AInertialMeasurementUnit, ARadar, and AObstacleDetectionSensor.

Definition at line 35 of file Sensor.cpp.

References UActorBlueprintFunctionLibrary::ActorAttributeToFloat(), SensorDescription, and FActorDescription::Variations.

Referenced by ARayCastLidar::Set().

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◆ SetDataStream()

void ASensor::SetDataStream ( FDataStream InStream )

inline

Replace the FDataStream associated with this sensor.

Warning: Do not change the stream after BeginPlay. It is not thread-safe.

Definition at line 45 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by FActorSensorData::RestoreActorData().

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◆ SetEpisode()

void ASensor::SetEpisode ( const UCarlaEpisode & InEpisode )

inline

Definition at line 31 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

◆ SetSeed()

void ASensor::SetSeed ( int32 InSeed )

Definition at line 87 of file Sensor.cpp.

References RandomEngine, URandomEngine::Seed(), and Seed.

Referenced by ARayCastLidar::ARayCastLidar(), UActorBlueprintFunctionLibrary::SetGnss(), UActorBlueprintFunctionLibrary::SetIMU(), and UActorBlueprintFunctionLibrary::SetRadar().

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◆ Tick()

void ASensor::Tick ( const float DeltaTime )

final

Definition at line 59 of file Sensor.cpp.

References FDataStreamTmpl< T >::AreClientsListening(), bClientsListening, OnFirstClientConnected(), OnLastClientDisconnected(), PrePhysTick(), ReadyToTick, and Stream.

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Member Data Documentation

◆ bClientsListening

bool ASensor::bClientsListening = false

private

Definition at line 139 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by Tick().

◆ bIsActive

bool ASensor::bIsActive = false

protected

Definition at line 124 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

◆ Episode

const UCarlaEpisode* ASensor::Episode = nullptr

private

Definition at line 134 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by BeginPlay(), EndPlay(), ACollisionSensor::OnCollisionEvent(), and AObstacleDetectionSensor::OnObstacleDetectionEvent().

◆ OnPostTickDelegate

FDelegateHandle ASensor::OnPostTickDelegate

private

Definition at line 130 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

◆ RandomEngine

URandomEngine* ASensor::RandomEngine = nullptr

protected

Random Engine used to provide noise for sensor output.

Definition at line 121 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by ADVSCamera::ADVSCamera(), AGnssSensor::AGnssSensor(), AInertialMeasurementUnit::AInertialMeasurementUnit(), ARadar::ARadar(), ARayCastLidar::ARayCastLidar(), AInertialMeasurementUnit::ComputeAccelerometerNoise(), AInertialMeasurementUnit::ComputeGyroscopeNoise(), AGnssSensor::PostPhysTick(), ARayCastLidar::PostprocessDetection(), ARayCastLidar::PreprocessRays(), ARadar::SendLineTraces(), SetSeed(), and ADVSCamera::Simulation().

◆ ReadyToTick

bool ASensor::ReadyToTick = false

private

Allows the sensor to tick with the tick rate from UE4.

Definition at line 137 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by PostPhysTickInternal(), and Tick().

◆ Seed

int32 ASensor::Seed = 123456789

protected

Seed of the pseudo-random engine.

Definition at line 117 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by SetSeed().

◆ SensorDescription

FActorDescription ASensor::SensorDescription

private

Definition at line 132 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by GetAttribute(), and Set().

◆ Stream

FDataStream ASensor::Stream

private

Definition at line 128 of file Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h.

Referenced by EndPlay(), AGnssSensor::PostPhysTick(), AInertialMeasurementUnit::PostPhysTick(), ADVSCamera::PostPhysTick(), and Tick().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ASensor()

Member Function Documentation

◆ BeginPlay()

◆ EndPlay()

◆ GetAttribute()

◆ GetDataStream()

◆ GetEpisode()

◆ GetRandomEngine()

◆ GetSeed()

◆ GetToken()

◆ IsStreamReady()

◆ MoveDataStream()

◆ OnFirstClientConnected()

◆ OnLastClientDisconnected()

◆ PostActorCreated()

◆ PostPhysTick()

◆ PostPhysTickInternal()

◆ PrePhysTick()

◆ Set()

◆ SetDataStream()

◆ SetEpisode()

◆ SetSeed()

◆ Tick()

Member Data Documentation

◆ bClientsListening

◆ bIsActive

◆ Episode

◆ OnPostTickDelegate

◆ RandomEngine

◆ ReadyToTick

◆ Seed

◆ SensorDescription

◆ Stream