Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
ACollisionSensor Class Reference

A sensor to register collisions. More...

#include <CollisionSensor.h>

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Public Member Functions

 ACollisionSensor (const FObjectInitializer &ObjectInitializer)
void SetOwner (AActor *NewOwner) override
- Public Member Functions inherited from ASensor
 ASensor (const FObjectInitializer &ObjectInitializer)
virtual void BeginPlay ()
boost::optional< FActorAttributeGetAttribute (const FString Name)
const UCarlaEpisodeGetEpisode () const
URandomEngineGetRandomEngine ()
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 ()
virtual void PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)
void PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)
virtual void PrePhysTick (float DeltaSeconds)
virtual void Set (const FActorDescription &Description)
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 OnCollisionEvent (AActor *Actor, AActor *OtherActor, FVector NormalImpulse, const FHitResult &Hit)

Private Attributes

std::vector< std::tuple< uint64_t, AActor *, AActor * > > CollisionRegistry
 Registry that saves all collisions. More...

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
URandomEngineRandomEngine = 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 19 of file CollisionSensor.h.

Constructor & Destructor Documentation

◆ ACollisionSensor()

ACollisionSensor::ACollisionSensor ( const FObjectInitializer &  ObjectInitializer)

Definition at line 17 of file CollisionSensor.cpp.

Member Function Documentation

◆ GetSensorDefinition()

FActorDefinition ACollisionSensor::GetSensorDefinition ( )

Definition at line 23 of file CollisionSensor.cpp.

References UActorBlueprintFunctionLibrary::MakeGenericSensorDefinition().

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◆ OnCollisionEvent()

void ACollisionSensor::OnCollisionEvent ( AActor Actor,
AActor OtherActor,
FVector  NormalImpulse,
const FHitResult &  Hit 

Definition at line 42 of file CollisionSensor.cpp.

References ACarlaRecorder::AddCollision(), Collision, CollisionRegistry, ASensor::Episode, carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), ASensor::GetEpisode(), FCarlaEngine::GetFrameCounter(), carla::ros2::ROS2::GetInstance(), UCarlaEpisode::GetRecorder(), ASensor::GetToken(), ACarlaRecorder::IsEnabled(), UCarlaEpisode::SerializeActor(), and FAsyncDataStreamTmpl< T >::SerializeAndSend().

Referenced by SetOwner().

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◆ SetOwner()

void ACollisionSensor::SetOwner ( AActor NewOwner)
Deregister previous owner if there was one.

Definition at line 30 of file CollisionSensor.cpp.

References OnCollisionEvent().

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Member Data Documentation

◆ CollisionRegistry

std::vector<std::tuple<uint64_t, AActor*, AActor*> > ACollisionSensor::CollisionRegistry

Registry that saves all collisions.

Used to avoid sending the same collision more than once per frame, as the collision sensor uses the PhysX substepping tick. Helps with sensor usage and stream overload.

Definition at line 42 of file CollisionSensor.h.

Referenced by OnCollisionEvent().

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