#include <InertialMeasurementUnit.h>

Inheritance diagram for AInertialMeasurementUnit:

Public Member Functions
	AInertialMeasurementUnit (const FObjectInitializer &ObjectInitializer)

carla::geom::Vector3D	ComputeAccelerometer (const float DeltaTime)
	Accelerometer: measures linear acceleration in m/s^2.

const carla::geom::Vector3D	ComputeAccelerometerNoise (const FVector &Accelerometer)

float	ComputeCompass ()
	Magnetometer: orientation with respect to the North in rad.

carla::geom::Vector3D	ComputeGyroscope ()
	Gyroscope: measures angular velocity in rad/sec.

const carla::geom::Vector3D	ComputeGyroscopeNoise (const FVector &Gyroscope)

const FVector &	GetAccelerationStandardDeviation () const

const carla::geom::Vector3D &	GetAccelerometerValue () const

float	GetCompassValue () const

const FVector &	GetGyroscopeBias () const

const FVector &	GetGyroscopeStandardDeviation () const

const carla::geom::Vector3D &	GetGyroscopeValue () const

void	GetMirrorState (carla::multigpu::SensorState &State) const override
	Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).

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

void	Set (const FActorDescription &ActorDescription) override

void	SetAccelerationStandardDeviation (const FVector &Vec)

void	SetGyroscopeBias (const FVector &Vec)

void	SetGyroscopeStandardDeviation (const FVector &Vec)

void	SetMirrorState (const carla::multigpu::SensorState &State) override

void	SetOwner (AActor *Owner) override

Public Member Functions inherited from ASensor
bool	AreClientsListening ()

	ASensor (const FObjectInitializer &ObjectInitializer)

void	ClearReadyToTick ()

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

const UCarlaEpisode &	GetEpisode () const

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)

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().

Static Public Attributes
static const FVector	CarlaNorthVector
	Based on OpenDRIVE's lon and lat, North is in (0.0f, -1.0f, 0.0f)

Private Member Functions
void	BeginPlay () override

Private Attributes
carla::geom::Vector3D	AccelerometerValue
	Accelerometer value calculated after each PostPhysTick.

FVector	BiasGyro
	Bias for gyroscope settings.

float	CompassValue
	Magnetometer value calculated after each PostPhysTick.

carla::geom::Vector3D	GyroscopeValue
	Gyroscope value calculated after each PostPhysTick.

TOptional< FQuat >	MirroredLocalRotation
	Multi-GPU secondary: the primary IMU's rotation relative to its parent.

float	PrevDeltaTime
	Used to compute the acceleration.

std::array< FVector, 2 >	PrevLocation
	Used to compute the acceleration.

FVector	StdDevAccel
	Standard deviation for acceleration settings.

FVector	StdDevGyro
	Standard deviation for gyroscope settings.

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

Definition at line 23 of file InertialMeasurementUnit.h.

Constructor & Destructor Documentation

◆ AInertialMeasurementUnit()

AInertialMeasurementUnit::AInertialMeasurementUnit ( const FObjectInitializer & ObjectInitializer )

Definition at line 27 of file InertialMeasurementUnit.cpp.

References PrevDeltaTime, PrevLocation, and ASensor::RandomEngine.

Member Function Documentation

◆ BeginPlay()

void AInertialMeasurementUnit::BeginPlay ( )

overrideprivatevirtual

Reimplemented from ASensor.

Definition at line 283 of file InertialMeasurementUnit.cpp.

◆ ComputeAccelerometer()

carla::geom::Vector3D AInertialMeasurementUnit::ComputeAccelerometer ( const float DeltaTime )

Accelerometer: measures linear acceleration in m/s^2.

Definition at line 107 of file InertialMeasurementUnit.cpp.

References ComputeAccelerometerNoise(), UCarlaStatics::GetGameMode(), ACarlaGameModeBase::IMUSensorGravity, PrevDeltaTime, and PrevLocation.

Referenced by PostPhysTick().

◆ ComputeAccelerometerNoise()

const carla::geom::Vector3D AInertialMeasurementUnit::ComputeAccelerometerNoise ( const FVector & Accelerometer )

Definition at line 76 of file InertialMeasurementUnit.cpp.

References URandomEngine::GetNormalDistribution(), ASensor::RandomEngine, and StdDevAccel.

Referenced by ComputeAccelerometer().

◆ ComputeCompass()

float AInertialMeasurementUnit::ComputeCompass ( )

Magnetometer: orientation with respect to the North in rad.

Definition at line 177 of file InertialMeasurementUnit.cpp.

References CarlaNorthVector.

Referenced by PostPhysTick().

◆ ComputeGyroscope()

carla::geom::Vector3D AInertialMeasurementUnit::ComputeGyroscope ( )

Gyroscope: measures angular velocity in rad/sec.

Definition at line 154 of file InertialMeasurementUnit.cpp.

References ComputeGyroscopeNoise(), FIMU_GetActorAngularVelocityInRadians(), and MirroredLocalRotation.

Referenced by PostPhysTick().

◆ ComputeGyroscopeNoise()

const carla::geom::Vector3D AInertialMeasurementUnit::ComputeGyroscopeNoise ( const FVector & Gyroscope )

Definition at line 91 of file InertialMeasurementUnit.cpp.

References BiasGyro, URandomEngine::GetNormalDistribution(), ASensor::RandomEngine, and StdDevGyro.

Referenced by ComputeGyroscope().

◆ GetAccelerationStandardDeviation()

const FVector & AInertialMeasurementUnit::GetAccelerationStandardDeviation ( ) const

Definition at line 253 of file InertialMeasurementUnit.cpp.

References StdDevAccel.

◆ GetAccelerometerValue()

const carla::geom::Vector3D & AInertialMeasurementUnit::GetAccelerometerValue ( ) const

Definition at line 268 of file InertialMeasurementUnit.cpp.

References AccelerometerValue.

◆ GetCompassValue()

float AInertialMeasurementUnit::GetCompassValue ( ) const

Definition at line 278 of file InertialMeasurementUnit.cpp.

References CompassValue.

◆ GetGyroscopeBias()

const FVector & AInertialMeasurementUnit::GetGyroscopeBias ( ) const

Definition at line 263 of file InertialMeasurementUnit.cpp.

References BiasGyro.

◆ GetGyroscopeStandardDeviation()

const FVector & AInertialMeasurementUnit::GetGyroscopeStandardDeviation ( ) const

Definition at line 258 of file InertialMeasurementUnit.cpp.

References StdDevGyro.

◆ GetGyroscopeValue()

const carla::geom::Vector3D & AInertialMeasurementUnit::GetGyroscopeValue ( ) const

Definition at line 273 of file InertialMeasurementUnit.cpp.

References GyroscopeValue.

◆ GetMirrorState()

void AInertialMeasurementUnit::GetMirrorState ( carla::multigpu::SensorState & State ) const

overridevirtual

Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).

Override only for sensors whose PostPhysTick runs whether or not anyone listens: the primary's sensor owns the state of a sensor computed by a secondary.

Reimplemented from ASensor.

Definition at line 304 of file InertialMeasurementUnit.cpp.

References FIMU_ToWorld(), URandomEngine::GetState(), carla::multigpu::ImuHistory::last_delta_seconds, carla::multigpu::ImuHistory::last_location, carla::multigpu::ImuHistory::older_location, PrevDeltaTime, PrevLocation, ASensor::RandomEngine, and State.