AObstacleDetectionSensor Class Reference

A sensor to register collisions. More...

#include <ObstacleDetectionSensor.h>

Inheritance diagram for AObstacleDetectionSensor:

Collaboration diagram for AObstacleDetectionSensor:

Public Member Functions
	AObstacleDetectionSensor (const FObjectInitializer &ObjectInitializer)
virtual void	PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaSeconds) override
void	Set (const FActorDescription &Description) override
Public Member Functions inherited from ASensor
	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 ()
void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)
virtual void	PrePhysTick (float DeltaSeconds)
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

Static Public Member Functions
static FActorDefinition	GetSensorDefinition ()

Private Member Functions
void	OnObstacleDetectionEvent (AActor *Actor, AActor *OtherActor, float Distance, const FHitResult &Hit)

Private Attributes
bool	bDebugLineTrace = false
bool	bOnlyDynamics = false
float	Distance
float	HitRadius

Additional Inherited Members
Protected Member Functions inherited from ASensor
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 inherited from ASensor
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...

Detailed Description

A sensor to register collisions.

Definition at line 18 of file ObstacleDetectionSensor.h.

Constructor & Destructor Documentation

AObstacleDetectionSensor()

AObstacleDetectionSensor::AObstacleDetectionSensor

(

const FObjectInitializer &

ObjectInitializer

)

Definition at line 20 of file ObstacleDetectionSensor.cpp.

Member Function Documentation

GetSensorDefinition()

FActorDefinition AObstacleDetectionSensor::GetSensorDefinition ( )

static

Definition at line 26 of file ObstacleDetectionSensor.cpp.

References UActorBlueprintFunctionLibrary::MakeObstacleDetectorDefinitions().

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OnObstacleDetectionEvent()

void AObstacleDetectionSensor::OnObstacleDetectionEvent ( AActor *  Actor, AActor *  OtherActor, float  Distance, const FHitResult &  Hit  )

private

Definition at line 133 of file ObstacleDetectionSensor.cpp.

References ASensor::Episode, carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), ASensor::GetEpisode(), carla::ros2::ROS2::GetInstance(), ASensor::GetToken(), ASensor::IsStreamReady(), and UCarlaEpisode::SerializeActor().

Referenced by PostPhysTick().

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PostPhysTick()

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

overridevirtual

Reimplemented from ASensor.

Definition at line 57 of file ObstacleDetectionSensor.cpp.

References bDebugLineTrace, bOnlyDynamics, Distance, HitRadius, and OnObstacleDetectionEvent().

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Set()

void AObstacleDetectionSensor::Set ( const FActorDescription &  Description )

overridevirtual

Reimplemented from ASensor.

Definition at line 33 of file ObstacleDetectionSensor.cpp.

References bDebugLineTrace, bOnlyDynamics, Distance, HitRadius, UActorBlueprintFunctionLibrary::RetrieveActorAttributeToBool(), UActorBlueprintFunctionLibrary::RetrieveActorAttributeToFloat(), and FActorDescription::Variations.

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Member Data Documentation

bDebugLineTrace

bool AObstacleDetectionSensor::bDebugLineTrace = false

private

Definition at line 49 of file ObstacleDetectionSensor.h.

Referenced by PostPhysTick(), and Set().

bOnlyDynamics

bool AObstacleDetectionSensor::bOnlyDynamics = false

private

Definition at line 47 of file ObstacleDetectionSensor.h.

Referenced by PostPhysTick(), and Set().

Distance

float AObstacleDetectionSensor::Distance

private

Definition at line 43 of file ObstacleDetectionSensor.h.

Referenced by PostPhysTick(), and Set().

HitRadius

float AObstacleDetectionSensor::HitRadius

private

Definition at line 45 of file ObstacleDetectionSensor.h.

Referenced by PostPhysTick(), and Set().

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

• ObstacleDetectionSensor.h
• ObstacleDetectionSensor.cpp