Autoware GNSS sensor ("sensor.other.autoware_gnss"): streams GeoLocation to the client like the regular GNSS sensor, but on the ROS2 side publishes the sensor pose in the map frame (world transform + MGRS offset) as <base>/pose and <base>/pose_with_covariance. More...

#include <AutowareGnssSensor.h>

Inheritance diagram for AAutowareGnssSensor:

Public Member Functions
	AAutowareGnssSensor (const FObjectInitializer &ObjectInitializer)

float	GetAltitudeBias () const

float	GetAltitudeDeviation () const

double	GetAltitudeValue () const

float	GetLatitudeBias () const

float	GetLatitudeDeviation () const

double	GetLatitudeValue () const

float	GetLongitudeBias () const

float	GetLongitudeDeviation () const

double	GetLongitudeValue () 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).

bool	IsNoiseErrorEnabled () const

void	LoadMgrsData ()

void	Set (const FActorDescription &ActorDescription)

void	SetAltitudeBias (float Value)

void	SetAltitudeDeviation (float Value)

void	SetLatitudeBias (float Value)

void	SetLatitudeDeviation (float Value)

void	SetLongitudeBias (float Value)

void	SetLongitudeDeviation (float Value)

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

Protected Member Functions
virtual void	BeginPlay () override

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

void	SetNoiseErrorActive (const bool bEnabled)

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

Private Attributes
float	AltitudeBias

float	AltitudeDeviation

double	AltitudeValue

bool	bApplyNoiseError = false

carla::geom::GeoProjection	CurrentGeoProjection

float	LatitudeBias

float	LatitudeDeviation

double	LatitudeValue

float	LongitudeBias

float	LongitudeDeviation

double	LongitudeValue

TObjectPtr< UMgrsDataAsset >	MgrsDataAsset = nullptr

Additional Inherited Members
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

Autoware GNSS sensor ("sensor.other.autoware_gnss"): streams GeoLocation to the client like the regular GNSS sensor, but on the ROS2 side publishes the sensor pose in the map frame (world transform + MGRS offset) as <base>/pose and <base>/pose_with_covariance.

Ported from tier4/autoware-support.

Definition at line 27 of file AutowareGnssSensor.h.

Constructor & Destructor Documentation

◆ AAutowareGnssSensor()

AAutowareGnssSensor::AAutowareGnssSensor ( const FObjectInitializer & ObjectInitializer )

Definition at line 21 of file AutowareGnssSensor.cpp.

References ASensor::RandomEngine.

Member Function Documentation

◆ BeginPlay()

void AAutowareGnssSensor::BeginPlay ( )

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 33 of file AutowareGnssSensor.cpp.

References CurrentGeoProjection, UCarlaStatics::GetCurrentEpisode(), UCarlaEpisode::GetGeoProjection(), and LoadMgrsData().

◆ GetAltitudeBias()

float AAutowareGnssSensor::GetAltitudeBias ( ) const

Definition at line 193 of file AutowareGnssSensor.cpp.

References AltitudeBias.

◆ GetAltitudeDeviation()

float AAutowareGnssSensor::GetAltitudeDeviation ( ) const

Definition at line 180 of file AutowareGnssSensor.cpp.

References AltitudeDeviation.

◆ GetAltitudeValue()

double AAutowareGnssSensor::GetAltitudeValue ( ) const

Definition at line 208 of file AutowareGnssSensor.cpp.

References AltitudeValue.

◆ GetLatitudeBias()

float AAutowareGnssSensor::GetLatitudeBias ( ) const

Definition at line 185 of file AutowareGnssSensor.cpp.

References LatitudeBias.

◆ GetLatitudeDeviation()

float AAutowareGnssSensor::GetLatitudeDeviation ( ) const

Definition at line 172 of file AutowareGnssSensor.cpp.

References LatitudeDeviation.

◆ GetLatitudeValue()

double AAutowareGnssSensor::GetLatitudeValue ( ) const

Definition at line 198 of file AutowareGnssSensor.cpp.

References LatitudeValue.

◆ GetLongitudeBias()

float AAutowareGnssSensor::GetLongitudeBias ( ) const

Definition at line 189 of file AutowareGnssSensor.cpp.

References LongitudeBias.

◆ GetLongitudeDeviation()

float AAutowareGnssSensor::GetLongitudeDeviation ( ) const

Definition at line 176 of file AutowareGnssSensor.cpp.

References LongitudeDeviation.

◆ GetLongitudeValue()

double AAutowareGnssSensor::GetLongitudeValue ( ) const

Definition at line 203 of file AutowareGnssSensor.cpp.

References LongitudeValue.

◆ GetMirrorState()

void AAutowareGnssSensor::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 223 of file AutowareGnssSensor.cpp.

References URandomEngine::GetState(), ASensor::RandomEngine, and State.