AObstacleDetectionSensor Class Reference

A sensor to register collisions. More...

#include <ObstacleDetectionSensor.h>

Inheritance 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
bool	AreClientsListening ()
	ASensor (const FObjectInitializer &ObjectInitializer)
virtual void	BeginPlay ()
void	ClearReadyToTick ()
std::optional< FActorAttribute >	GetAttribute (const FString Name)
const UCarlaEpisode &	GetEpisode () const
virtual void	GetMirrorState (carla::multigpu::SensorState &State) const
	Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).
URandomEngine *	GetRandomEngine ()
float	GetReadyToTickDeltaSeconds () const
int32	GetSeed () const
auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream.
bool	IsReadyToTick () const
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.
void	SetEpisode (const UCarlaEpisode &InEpisode)
virtual void	SetMirrorState (const carla::multigpu::SensorState &State)
void	SetPrimaryTick (float DeltaSeconds)
	Multi-GPU secondary: tick in this engine frame, with the primary's delta.
void	SetSavingDataToDisk (bool bSavingData)
void	SetSeed (int32 InSeed)
void	Tick (const float DeltaTime) final

Static Public Member Functions
static FActorDefinition	GetSensorDefinition ()
Static Public Member Functions inherited from ASensor
static FSensorCaptureContext	MakeCaptureContext (const ASensor &Sensor)
	Call on the game thread right after CaptureScene().

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 SensorType >
FAsyncDataStream	GetDataStream (SensorType &&Self)
	Return the FDataStream associated with this sensor.
void	PostActorCreated () override
Static Protected Member Functions inherited from ASensor
template<typename SensorType , typename ElementType >
static void	SendDataToClient (SensorType &&Sensor, TArrayView< ElementType > SensorData, const FSensorCaptureContext &CaptureContext)
Protected Attributes inherited from ASensor
bool	bIsActive = false
bool	bSavingDataToDisk = false
URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output.
int32	Seed = 123456789
	Seed of the pseudo-random engine.

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 19 of file ObstacleDetectionSensor.cpp.

Member Function Documentation

GetSensorDefinition()

FActorDefinition AObstacleDetectionSensor::GetSensorDefinition ( )

static

Definition at line 25 of file ObstacleDetectionSensor.cpp.

References UActorBlueprintFunctionLibrary::MakeObstacleDetectorDefinitions().

OnObstacleDetectionEvent()

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

private

Definition at line 132 of file ObstacleDetectionSensor.cpp.

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

Referenced by PostPhysTick().

PostPhysTick()

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

overridevirtual

Reimplemented from ASensor.

Definition at line 56 of file ObstacleDetectionSensor.cpp.

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

Referenced by PostPhysTick().

Set()

void AObstacleDetectionSensor::Set ( const FActorDescription &  Description )

overridevirtual

Reimplemented from ASensor.

Definition at line 32 of file ObstacleDetectionSensor.cpp.

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

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