CARLA
ObstacleDetectionEvent.h
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1 // Copyright (c) 2017 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 "carla/Debug.h"
13 
14 
15 namespace carla {
16 namespace sensor {
17 namespace data {
18 
19  /// A registered detection.
21  using Super = SensorData;
22  protected:
23 
25 
26  friend Serializer;
27 
28  explicit ObstacleDetectionEvent(const RawData &data)
29  : Super(data),
30  _self_actor(nullptr),
31  _other_actor(nullptr) {
32  auto ddata = Serializer::DeserializeRawData(data);
33  _self_actor = std::move(ddata.self_actor);
34  _other_actor = std::move(ddata.other_actor);
35  _distance = ddata.distance;
36  }
37 
38  public:
39 
40  /// Get "self" actor. Actor that measured the collision.
42  return _self_actor.Get(GetEpisode());
43  }
44 
45  /// Get the actor to which we collided.
47  return _other_actor.Get(GetEpisode());
48  }
49 
50  /// Get obstacle distance.
51  float GetDistance() const {
52  return _distance;
53  }
54 
55  private:
56 
58 
60 
61  float _distance;
62  };
63 
64 } // namespace data
65 } // namespace sensor
66 } // namespace carla
Holds an Actor, but only instantiates it when needed.
Definition: ActorVariant.h:30
boost::shared_ptr< T > SharedPtr
Use this SharedPtr (boost::shared_ptr) to keep compatibility with boost::python, but it would be nice...
Definition: Memory.h:20
This file contains definitions of common data structures used in traffic manager. ...
Definition: Carla.cpp:133
const auto & GetEpisode() const
Definition: SensorData.h:54
SensorData(size_t frame, double timestamp, const rpc::Transform &sensor_transform)
Definition: SensorData.h:25
Base class for all the objects containing data generated by a sensor.
Definition: SensorData.h:20
SharedPtr< client::Actor > GetActor() const
Get "self" actor. Actor that measured the collision.
SharedPtr< client::Actor > GetOtherActor() const
Get the actor to which we collided.
SharedPtr< client::Actor > Get(EpisodeProxy episode) const
Definition: ActorVariant.h:49
Serializes the current state of the whole episode.
float GetDistance() const
Get obstacle distance.
Wrapper around the raw data generated by a sensor plus some useful meta-information.
Definition: RawData.h:20