ACollisionSensor Class Reference

A sensor to register collisions. More...

#include <CollisionSensor.h>

Inheritance diagram for ACollisionSensor:

Collaboration diagram for ACollisionSensor:

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< FActorAttribute >	GetAttribute (const FString Name)
const UCarlaEpisode &	GetEpisode () const
URandomEngine *	GetRandomEngine ()
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
URandomEngine *	RandomEngine = 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 ( )

static

Definition at line 23 of file CollisionSensor.cpp.

References UActorBlueprintFunctionLibrary::MakeGenericSensorDefinition().

Here is the call graph for this function:

OnCollisionEvent()

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

private

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().

Here is the call graph for this function:

Here is the caller graph for this function:

SetOwner()

void ACollisionSensor::SetOwner ( AActor *  NewOwner )

override

Todo:

Deregister previous owner if there was one.

Definition at line 30 of file CollisionSensor.cpp.

References OnCollisionEvent().

Here is the call graph for this function:

Member Data Documentation

CollisionRegistry

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

private

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:

• CollisionSensor.h
• CollisionSensor.cpp